Integrated control of ground vehicles dynamics via advanced terminal sliding mode control
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An integrated vehicle dynamics control (IVDC) algorithm, developed for improving vehicle handling and stability under critical lateral motions, is discussed in this paper. The IVDC system utilises integral and nonsingular fast terminal sliding mode (NFTSM) control strategies and coordinates active front steering (AFS) and direct yaw moment control (DYC) systems. When the vehicle is in the normal driving situation, the AFS system provides handling enhancement. If the vehicle reaches its handling limit, both AFS and DYC are then integrated to ensure the vehicle stability. The major contribution of this paper is in improving the transient response of the vehicle yaw rate and sideslip angle tracking controllers by implementing advanced types of sliding mode strategies, namely integral terminal sliding mode and NFTSM, in the IVDC system. Simulation results demonstrate that the developed control algorithm for the IVDC system not only has strong robustness against uncertainties but also improves the transient response of the control system.
Vehicle System Dynamics
Copyright 2017 Taylor & Francis (Routledge). This is an Accepted Manuscript of an article published by Taylor & Francis in Vehicle System Dynamics on 20 Nov 2016, available online: http://www.tandfonline.com/10.1080/00423114.2016.1256489
Engineering not elsewhere classified