Auto anti-interference sliding mode control based on active front steering

For vehicle driving process system parameters uncertainty and external disturbance, an active front wheel steering anti-interference sliding mode controller was designed. This paper also set up two degrees of freedom linear reference vehicle model and took the actual vehicles yawing angular velocity and the ideal expected yawing angular velocity deviation as input. In addition, the equivalent control and switching control methods were used to design sliding mode control law. The universal approximation capability of neural network and adaptive control algorithm were used to restrain chattering, and using controller output stacked front wheel angle to compensate for the total uncertainty. Besides, the stability of the system was analyzed based on the Lyapunov stability theory. Then, the dynamic simulation model was built by using Simulink software to verify the designed controller. Results show that the controller has strong robustness toward the system parameter variations and external disturbance and it can not only accurately track the desired state response, also effectively weaken the chattering, and improve the quality of the vehicle stability comprehensive control.