Vehicle yaw stability control using rear active differential via sliding mode control methods

Daniel Rubin, Shai Arogeti

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

Abstract

The problem of vehicle yaw control is addressed in this paper using a rear active differential. The controller objective is to minimize the yaw-rate error and body slipangle error of target values. A new Sliding mode controller is designed using a nonlinear 2DOF vehicle model and a sliding surface that integrates the vehicle yaw-rate error and slipangle error. Two control law approaches, namely, saturation control and saturation plus constant gain control where tested. Simulations performed using CarSim and Matlab/Simulink show robust stability in face of model uncertainties and superior performances of the saturation plus constant gain control.

Original languageEnglish
Title of host publication2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings
Pages317-322
Number of pages6
DOIs
StatePublished - 15 Oct 2013
Event2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Platanias-Chania, Crete, Greece
Duration: 25 Jun 201328 Jun 2013

Publication series

Name2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings

Conference

Conference2013 21st Mediterranean Conference on Control and Automation, MED 2013
Country/TerritoryGreece
CityPlatanias-Chania, Crete
Period25/06/1328/06/13

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