基于李亚普诺夫函数设计了模型参考变结构控制器,该控制器通过产生主动横摆力矩迫使车辆的响应跟踪参考模型的理想输出,从而提高了车辆的主动安全性.用该控制模型计算了车辆在正弦输入和阶跃输入时的横摆角速度以及车辆质心的侧偏角响应,仿真计算结果表明控制车辆的横摆力矩能够有效改善车辆的横摆角速度、质心侧偏角响应,并且该控制器能更好的适应车速和路况的变化,鲁棒性强. Based on the Lyapunov function, a model reference variable structure controller is designed, which can improve the active safety of the vehicle by forcing the response of the vehicle to track the ideal output of the reference model by generating the active yaw moment. Using this control model, The yaw rate and the center of mass of the vehicle at the sine input and the step input are calculated respectively. The simulation results show that controlling the vehicle yaw moment can effectively improve the vehicle yaw rate and center of mass roll angle response, and the controller Can better adapt to changes in speed and road conditions, robustness.