Vehicle Yaw Control via Second-Order Sliding-Mode Technique
Canale, M.
Fagiano, L.
Ferrara, A.
Vecchio, C.
Dipt. di Autom. e Inf., Politec. di Torino, Turin;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Nov. 2008
Volume: 55,
Issue: 11
On page(s): 3908-3916
ISSN: 0278-0046
INSPEC Accession Number: 10301398
Digital Object Identifier: 10.1109/TIE.2008.2003200
First Published: 2008-08-19
Current Version Published: 2008-10-31
Abstract
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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