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In this paper, a stability control strategy with two levels is presented for vehicle systems with crosswind disturbances. In the high level, the controller is designed to get the resultant forces (moments), which achieve the motion control targets. At first, the method of diffeomorphic mapping is used to achieve coordinate transformation, and a state feedback is introduced to realize the conversion from the original nonlinear system to the linear system. Then, a disturbance rejection controller is designed to maintain the stability of the vehicle when the external disturbances exist and achieve the tracking of the control objectives keeping a $L_{2}$ performance. In the low level, considering the constraints of actuator physical constraints and road adhesion conditions, an effective control allocation algorithm is proposed to make sure that the actual forces (moments) distributed to the wheels are closer to the expected ones calculated by the high level. The control strategy has been implemented in MATLAB/Simulink environment. A more realistic vehicle system simulation model is established in AMEsim. The results show that the vehicle stability control strategy proposed in this paper can maintain the stability of the vehicle when crosswind disturbance exists.

Diffeomorphism Transformation Based Disturbance Rejection Control and Its Allocation of Vehicle Dynamic Stable Systems