Conference paper
Robust hierarchical sliding mode control for steer-by-wire equipped vehicle yaw stability control
2017 11th Asian Control Conference (ASCC), pp.239-243
IEEE
2017 11th Asian Control Conference (ASCC) (Gold Coast, QLD, Australia, 17/12/2017–20/12/2017)
2017
Abstract
This paper proposes a hierarchical sliding mode controller (HSMC) for steer-by-wire (SBW) equipped vehicle yaw stability control (YSC). Considering the fact that the lateral vehicle model can be modelled as a first-order underactuated system where chassis sideslip angle and yaw rate are stable variables, we propose a RHSMC with first-level and second-level sliding surfaces to obtain a front wheel steering angle as control input, such that both the vehicle sideslip angle and yaw rate can be driven to converge to their reference values asymptotically in the presence of modelling uncertainties and external disturbances. Simulation results demonstrate the effectiveness of the proposed vehicle YSC scheme as well as the excellent tracking performance.
Details
- Title
- Robust hierarchical sliding mode control for steer-by-wire equipped vehicle yaw stability control
- Authors/Creators
- H. Wang (Author/Creator) - Hefei University of TechnologyL. Shi (Author/Creator) - Hefei University of TechnologyZ. Li (Author/Creator) - Hefei University of Technology
- Publication Details
- 2017 11th Asian Control Conference (ASCC), pp.239-243
- Conference
- 2017 11th Asian Control Conference (ASCC) (Gold Coast, QLD, Australia, 17/12/2017–20/12/2017)
- Publisher
- IEEE
- Identifiers
- 991005543463207891
- Copyright
- © 2017 IEEE
- Murdoch Affiliation
- Murdoch University
- Language
- English
- Resource Type
- Conference paper
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