A Sliding Robust Algorithm based Controller Design for Direct Yaw Moment Control System

Direct yaw moment control is a key technology to improve vehicle stability and driving comfort, and its performance has a great impact on vehicle active safety control. For solving the problems of model uncertainty and system robustness in vehicle active safety control, a direct yaw moment control formwork based on sliding robust control is proposed. It makes the state of the control system slide along the sliding surface by switching the control quantity, which can ensure the invariance of the control system under external disturbance and parameter perturbation. To describe the drivability of the vehicle under the tire nonlinear conditions, a vehicle dynamics model based on the Fiala method is established in the controller design. Meanwhile, a correction model of the reference yaw rate and reference sideslip angle based on the road adhesion coefficient is designed to ensure the tracking accuracy of the vehicle to the stability index. We established the control model of Simulink for co-simulation with Carsim. Meanwhile, a hardware simulation-in-the-loop(HIL) platform for yaw moment based on the NI-Lab VIEW system is established. The experiment shows that the formwork can further ensure the vehicle's stability by providing yaw moment when the vehicle is driving, and improving the vehicle's handling performance.