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Envelope control has been implemented successfully in aircraft for over a decade to assist pilots in stabilising their planes. With current advances in sideslip angle and friction coefficient estimation, envelope control can now be applied to the automotive industry as well. Using full state estimation of yaw rate and sideslip angle, stability controllers can assist the driver by keeping the vehicle within a safe region of the planar state space. This paper discusses the physical phenomena that must be taken into account when choosing an envelope and details a specific choice of envelope comprised of the yaw acceleration nullcline and the maximum rear slip angle limits. The vehicle is kept within the envelope using a computationally simple sliding surface control scheme. Experimental data show the success of the controller, which is implemented on a vehicle through the use of steer-by-wire.
Bobier et al. (Wed,) studied this question.
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