The problem of vehicle yaw control is addressed in this paper using an active differential and yaw rate feedback. A reference generator, designed to improve vehicle handling, provides the desired yaw rate value to be achieved by the closed loop controller. The latter is designed using the second-order sliding mode (SOSM) methodology to guarantee robust stability in front of disturbances and model uncertainties, which are typical of the automotive context. A feedforward control contribution is also employed to enhance the transient system response. The control derivative is constructed as a discontinuous signal, attaining an SOSM on a suitably selected sliding manifold. Thus, the actual control input results in being continuous, as it is needed in the considered context. Simulations performed using a realistic nonlinear model of the considered vehicle show the effectiveness of the proposed approach.

Vehicle Yaw Control via Second Order Sliding Mode Technique / Canale, Massimo; Fagiano, Lorenzo; Ferrara, A; Vecchio, C.. - In: IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS. - ISSN 0278-0046. - 55 (11):(2008), pp. 3908-3916. [10.1109/TIE.2008.2003200]

Vehicle Yaw Control via Second Order Sliding Mode Technique

CANALE, MASSIMO;FAGIANO, LORENZO;
2008

Abstract

The problem of vehicle yaw control is addressed in this paper using an active differential and yaw rate feedback. A reference generator, designed to improve vehicle handling, provides the desired yaw rate value to be achieved by the closed loop controller. The latter is designed using the second-order sliding mode (SOSM) methodology to guarantee robust stability in front of disturbances and model uncertainties, which are typical of the automotive context. A feedforward control contribution is also employed to enhance the transient system response. The control derivative is constructed as a discontinuous signal, attaining an SOSM on a suitably selected sliding manifold. Thus, the actual control input results in being continuous, as it is needed in the considered context. Simulations performed using a realistic nonlinear model of the considered vehicle show the effectiveness of the proposed approach.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/1834541
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