Vehicle yaw stability improvement via active braking system using adaptive sliding mode control

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Abstract

In this paper, an adaptive sliding mode controller (ASMC) has been proposed to improve vehicle yaw stability through an active braking system. Since the vehicles undergo changes in parameters with respect to the wide range of driving condition, such as changing in road friction coefficient and also the dependency of braking forces on the coefficient, an adaptive robust control method is required to guarantee system stability. So, a two-layer hierarchical control architecture has been designed. In the upper-layer, the value of corrective yaw moment is determined to track the desired vehicle yaw rate obtained from a reference model. Then, the lower-layer proposed for each wheel individually,adjust the longitudinal slip of wheels to their desired values for exerting the required braking force to generate the corrective yaw moment. In both layers, ASMC has been applied. The designed controller, which is insensitive to system uncertainties, offers the adaptive sliding gains to eliminate the bounds of uncertainties. A dynamics vehicle model with seven degrees of freedom and Pacejka non-linear tyre model have been used to computer simulations for evaluating the controller in the step steer input and lane change maneuvers on dry and slippery roads. The results demonstrate the high effectiveness of the proposed controller against the traditional sliding mode controller (SMC) to track the desired yaw rate and improve the vehicle yaw stability in the slippery roads.

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References

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Journal of Solid and Fluid Mechanics
Volume 7, Issue 1
March and April 2017
Pages 65-78

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