Yaw Stability Control for 6WD Unmanned Vehicle on Split-mu Road Using Sliding Mode Algorithm

The control of unmanned vehicle systems are involved with uncertain road condition, uncertain load quality as well as unstable motor control system. In this paper, a sliding-mode control strategy for the torque control of six-wheels vehicles are proposed to maintain a fixed velocity and meanwhile track a straight-line. Low-level controllers and high-level controllers are designed and conducted under six-wheel driving mode. The experimental results validate the effectiveness of our proposed control scheme.