Yaw stability control (YSC) is critical for intelligent heavy vehicles (IHVs) to ensure driving steering safety. This study introduces a novel prescribed performance PID (PPPID) control strategy to address yaw stability challenges in IHVs equipped with electro-hydraulic compound steering systems (EHCSS). Firstly, a mathematical framework is established that integrates the vehicle's two-degree-of-freedom (2-DOF) model with the physical model of the EHCSS. Subsequently, a PPPID controller is developed for steering stability, utilising the sideslip angle and yaw rate as target parameters. Finally, the proposed control strategy is validated through hardware-in-the-loop (HIL) testing under double-lane change (DLC) and sine wave conditions at varying speeds, with comparative analysis against the traditional PID control method. The results demonstrate that, in contrast to conventional PID, the PPPID control strategy can make errors converging within the designated performance range while avoiding issues such as overshoot and data instability.
Tian et al. (Wed,) studied this question.