Sliding Mode and Inertial Delay Based Direct Yaw Moment Control for AGVs

The direct yaw moment control (DYC) obtained using active front-wheel steering and differential forces at each wheel is an effective technique in achieving vehicle stability. In this paper, a sliding mode and inertial delay control (IDC) is designed to achieve DYC. In this method, the uncertainties in vehicle parameters and external disturbances are estimated using IDC and used in the sliding mode control (SMC) framework to force the vehicle to track the desired yaw rate and sideslip angle. The proposed controller is free from chatter and does not need the uncertainties' bound. The stability of the controller is established using the Lyapunov theory. The potency of the prospective controller has been proved by executing the simulation for varying driving conditions.