Yaw rate control for a cornering 4WD vehicle
نویسندگان
چکیده
This work is concerned with modeling and control of a vehicle which is assumed to be a body with four wheels. The available control is the vector of torque on the wheels. The aim of the paper is to design a control of the vehicle yaw rate in cornering motions at specified longitudinal speed and steering angle. This problem is one aspect of those appearing in the need of safer, more drivable, and more comfortable passenger cars. The modeling part of the work deals with road-tire contacts as well as the vehicle kinematics. It appears that the model is highly nonlinear, including saturations. The road-tire contact model is also highly uncertain. In this paper, we propose a nonlinear based sliding mode controller designed to handle all these non-linearities.
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