Autonomous　vehicles＇　dynamics　stability　control　is　one　key　issue　to　ensure　safety　of　self-driving.　However,　vehicle　uncertainties　and　time-varying　parameters　could　weaken　the　performance　of　autonomous　vehicle　stability　control.　Therefore,　this　article　proposes　a　novel　robust　linear　matrix　inequality　(LMI)-based　H-infinite　feedback　algorithm　for　vehicle　dynamics　stability　control,　and　this　algorithm　controls　vehicle　steering　system　and　brake　system　via　direct　yaw　moment　control　(DYC)　and　active　front　steering　control　(AFS).　The　presented　controller　is　robust　against　vehicle　parametric　uncertainties,　including　the　vehicle　mass　and　vehicle　longitudinal　velocity.　A　linear　parameter　varying　lateral　model　is　constructed　utilizing　polytopic　uncertainty　method　considering　time-varying　vehicle　longitudinal　velocity　and　mass,　where　a　polytope　that　contains　finite　vertices　is　established　to　contain　all　of　the　possible　selections　for　uncertainty　parameters.　Then,　the　H-infinite　feedback　controller　integrating　DYC　and　AFS　is　derived　via　LMI　technique.　Finally,　experimental　results　based　on　hardware-in-the-loop　(HIL)　platform　illustrate　that　the　presented　controller　has　better　performance　of　ensuring　autonomous　vehicle　dynamics　stability　than　other　controllers.