Vehicle Dynamics Control based on optimal sliding mode control theory

The paper presents a Vehicle Dynamics Control (VDC) strategy devoted to prevent vehicles from spinning and drifting out, which plans out the optimal wheel slip ratio based on Linear Quadratic Regulator (LQR) theory and liner 2-DOF dual model, and establishes the wheel slip controller by application of sliding mode control theory. Compared with conventional PID control, the optimal sliding mode control can improve significantly the responds of system. 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.