Robust yaw stability control based on disturbance observer using active front steering

Author

Marar, Abhishek ; Ginoya, Divyesh ; Phadke, S.B. ; Shendge, P.D.

Author_Institution

Coll. of Eng. Pune, Pune, India

fYear

2015

fDate

28-30 May 2015

Firstpage

1367

Lastpage

1372

Abstract

A vehicle model based sliding mode controller is designed to achieve desired vehicle behaviour by considering a two degree of freedom bicycle model. A first order linearized dynamic tire model is considered. Sliding mode controller is utilized for yaw rate reference tracking and sideslip stability. Disturbance observer is combined with sliding mode controller to robustify the performance in the presence of parametric uncertainties. A trade-off behaviour between the yaw rate and sideslip angle is discussed. The performance of the proposed controller is verified in MATLAB/ Simulink.

Keywords

bicycles; control system synthesis; observers; road safety; road vehicles; robust control; steering systems; variable structure systems; MATLAB; Simulink; active front steering; disturbance observer; first order linearized dynamic tire model; robust yaw stability control; sideslip stability; two degree of freedom bicycle model; vehicle model based sliding mode controller design; yaw rate reference tracking; Nickel; Active steering; Disturbance observer; Sideslip angle stability; Sliding mode control; Yaw rate reference tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Instrumentation and Control (ICIC), 2015 International Conference on

Conference_Location

Pune

Type

conf

DOI

10.1109/IIC.2015.7150961

Filename

7150961