Sliding Mode Control of Active Car Steering with Various Boundary Layer Thickness and Disturbances

The paper presents the effect of varying the boundary layer thickness, delta for sliding mode controller. In order to observe the feasibility of the system, the effect of small and large values of delta has been selected for various disturbances. Performance for each disturbance and its ability to give fast response and best performance in term of control input, side slip angle and yaw rate of a single track car model will be simulated.