中文摘要：

将四轮转向与直接横摆力矩相结合，考虑模型摄动优化权函数抑制外扰，基于模型跟踪设计Ⅳ综合鲁棒集成控制器．采用J-tum操纵方式高速下验证控制器的鲁棒性，比较前轮转向直接横摆力矩，四轮转向与四轮转向直接横摆力矩三种车辆控制系统的操纵性能，仿真表明设计的四轮转向直接横摆力矩集成μ综合控制器更能有效地提高车辆闭环系统的鲁棒性，抵制外部扰动的鲁棒稳定性，且避免了H∞控制器的保守性。

英文摘要：

The p-synthesis for four-wheel steering （4WS） with direct yaw-moment control （DYC） problem was proposed. Applying this method, the model uncertainties could be taken into consideration and a p-synthesis robust controller based on model tracking was designed with the optimized weighting functions to attenuate the external disturbances. To evaluate the performance of vehicle with robust controller, the proposed controller performs adequately with J-turn maneuver and the steering performances were compared to front-wheel steering （FWS） with DYC, 4WS and 4WS with DYC. The numerical simulation shows that the designed p-synthesis robust controller for four-wheel steering with direct yaw-moment control system can improve the performance of closed-loop vehicle system, and this controller has good maneuverability, enough robust stability and well performance robustness against the serious disturbance. It also improves the conservation of the normal H∞ controller of vehicle system.