Enhancing vehicle cornering limit through sideslip and yaw rate control

Qian Lu, Pierangelo Gentile, Antonio Tota, Aldo Sorniotti, Patrick Gruber, Fabio Costamaga, Jasper De Smet

Research output: Contribution to journalArticlepeer-review

81 Citations (Scopus)
148 Downloads (Pure)


Fully electric vehicles with individually controlled drivetrains can provide a high degree of drivability and vehicle safety, all while increasing the cornering limit and the ‘fun-to-drive’ aspect. This paper investigates a new approach on how sideslip control can be integrated into a continuously active yaw rate controller to extend the limit of stable vehicle cornering and to allow sustained high values of sideslip angle. The controllability-related limitations of integrated yaw rate and sideslip control, together with its potential benefits, are discussed through the tools of multi-variable feedback control theory and non-linear phase-plane analysis. Two examples of integrated yaw rate and sideslip control systems are presented and their effectiveness is experimentally evaluated and demonstrated on a four-wheel-drive fully electric vehicle prototype. Results show that the integrated control system allows safe operation at the vehicle cornering limit at a specified sideslip angle independent of the tire-road friction conditions.
Original languageEnglish
Pages (from-to)455-472
Number of pages18
JournalMechanical Systems and Signal Processing
Early online date21 Dec 2015
Publication statusPublished - 15 Jun 2016
Externally publishedYes

Bibliographical note

This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).


  • Direct yaw moment control
  • Fully electric vehicle
  • Yaw rate and sideslip control
  • Phase-plane analysis
  • Singular value decomposition
  • Enhanced Sport Mode


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