Design of a robust vehicle dynamics controller based on optimal sliding mode control theory

In this paper, a novel algorithm which has high precision and robustness for Vehicle Dynamics Control (VDC) is proposed, which is based on the Linear Quadratic Regulator (LQR) and the sliding mode control theory. The response of the vehicle can follow the ideal output of the reference model through controlling the yaw rate and side slip angle. The performance of the proposed algorithm is evaluated under various emergency maneuvers and road conditions. The simulation results indicate that the proposed system can significantly improve vehicle stability for active safety, which has strong adaptability and robustness.