Yaw control algorithm via sliding mode control

Electronic controls have been developed to improve vehicle dynamics in automotive applications. Several luxury vehicle manufacturers have positioned themselves to offer increased vehicle stability by expanding the current anti-lock brake system (ABS) and traction control system (TCS) technology into the arena of yaw control. A yaw control algorithm is developed to give an additional measure of vehicle stability control during adverse driving maneuvers over a variety of road conditions. By measurements of vehicle states, the control algorithm determines the level of vehicle stability and intervenes as necessary through individual wheel braking to provide added stability and handling predictability. The control law is based on optimum search for minimum yaw rate via sliding mode control.