This chapter introduces the application of Sliding Mode Control techniques by solving the lateral Vehicle Stability Control (VSC) problem. In Section 4.1 the linearized single track model is presented, which is typically used for the design of lateral stability controllers. The formulation of the yaw rate control problem is also explained, starting from the equations of motion. In Section 4.2, we propose a survey of the different methods for the control of the vehicle lateral dynamics, which are known from the research literature. The control structure and the specific sliding mode controllers which are presented in this chapter are illustrated in Section 4.3 and assessed in Section 4.4, where the results of the simulations are reported and discussed.

Chapter Contents:

• 4.1 Vehicle modeling and problem formulation
• 4.1.1 Dynamic equations
• 4.1.2 Cornering forces
• 4.1.2.1 Tire-road interaction
• 4.1.2.2 Forces linearization
• 4.1.3 Yaw moment generation
• 4.1.4 Vehicle steering properties
• 4.1.5 Control problem formulation
• 4.2 Yaw rate control survey
• 4.2.1 Vehicle stability control: yaw rate and side slip angle
• 4.2.1.1 Reference and actual values of yaw rate and side slip angle
• 4.2.1.2 Parallel utilization of side slip angle and yaw rate by the stability control
• 4.2.2 Brake-based stability control: example
• 4.2.3 Torque-based stability control: example
• 4.3 Vehicle stability control via sliding mode control
• 4.3.1 Overall control structure
• 4.3.2 Reference model
• 4.3.3 Feedforward control
• 4.3.4 Second-order sliding mode control design
• 4.3.5 Integral sliding mode control design
• 4.4 Controllers assessment
• 4.4.1 Vehicle specifications and model validation
• 4.4.2 Simulation results
• 4.4.2.1 Slowly increasing steer
• 4.4.2.2 Step steer
• 4.4.2.3 Sine with dwell
• 4.4.2.4 Braking in the turn
• 4.4.2.5 Double lane change
• 4.5 Conclusions
• Acknowledgment
• References

Inspec keywords: variable structure systems; control system synthesis; vehicle dynamics; stability; road vehicles

Other keywords: lateral vehicle dynamics control; sliding mode control techniques; yaw rate control problem; motion equation; linearized single track model; VSC problem; lateral vehicle stability control problem; lateral stability controller design; sliding modes generation

Subjects: Stability in control theory; Multivariable control systems; Vehicle mechanics; Control system analysis and synthesis methods; Road-traffic system control