Optimal Cornering for Rack Steering Vehicle using Adaptive Torque-Based Vehicle Slip Control

The paper presents the adaptive torque-based vehicle slip control (AT-VSC) using super-twisting algorithm for the rack steering vehicle (RSV) optimal maneuvering on the cornering path. The inertia of vehicle's slip caused by oversteered on cornering road is a crucial part that need to be considered in vehicle dynamics and control system design. This situation might lead to the accident such as border collision and offroad. Therefore, steering angle, torque, friction, and orientation of the RSV is used as a focus parameter to be controlled in the cornering track. The control objective is to reduce the slip and stabilizing of the vehicle system during cornering period with reference to the different steering angle and vehicle’s torque on driven wheels. The results show that the different positioning on RSV motion of the vehicle was able to reduce when using the proposed AT-VSC. Also, the reduction of vehicle velocity influenced the overall kinetic energy of the system that reduced the inertia effect, thus, able to control the oversteering occurred in cornering from the results of vehicle motion.