Hierarchical Control Scheme of Direct Yaw Moment Control System Based on Second-Order Sliding Mode Control

In this paper, the second-order sliding mode controller based on finite state machine is used as the outer-layer controller of hierarchical control for the direct yaw moment control system. The controller significantly weakens the chattering phenomenon caused by the first-order sliding mode controller and improves the robustness of the system. It makes the additional yaw moment calculated by the outer-layer controller more smooth and reduces the chattering of the wheel drive torque. The simulation compares the first-order sliding mode controller and the second-order sliding mode controller. The results show that the controller adopted in this paper significantly weakens the chattering phenomenon.