Sliding mode control of a skidding car: a quantitative analysis through interactive driving

A car running on a low friction road skids off easily and falls into a spin. In such situation, it is technically difficult for a normal driver to recover the car into a stable state. If a car obeys nonholonomic constraints, we can steer it easily. To keep these constraints, we have proposed a driving force controller based on the sliding mode control theory that reduces the deviations from constraints drastically. In our previous study, we used driver´s command to steer the car and showed that our sliding mode controller was effective to prevent undesired tracking errors. In this study, we develop an interactive simulator, which includes three dimensional computer graphics and real time response to show the advantage of our driving force controller for the human operation quantitatively.