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Vehicle Yaw Control via Second-Order Sliding-Mode Technique

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4 Author(s)
Canale, M. ; Dipt. di Autom. e Inf., Politec. di Torino, Turin ; Fagiano, L. ; Ferrara, A. ; Vecchio, C.

The problem of vehicle yaw control is addressed in this paper using an active differential and yaw rate feedback. A reference generator, designed to improve vehicle handling, provides the desired yaw rate value to be achieved by the closed loop controller. The latter is designed using the second-order sliding mode (SOSM) methodology to guarantee robust stability in front of disturbances and model uncertainties, which are typical of the automotive context. A feedforward control contribution is also employed to enhance the transient system response. The control derivative is constructed as a discontinuous signal, attaining an SOSM on a suitably selected sliding manifold. Thus, the actual control input results in being continuous, as it is needed in the considered context. Simulations performed using a realistic nonlinear model of the considered vehicle show the effectiveness of the proposed approach.

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Industrial Electronics, IEEE Transactions on  (Volume:55 ,  Issue: 11 )