Abstract
The paper introduces a novel vehicle dynamics control concept based on a hybrid actuator system consisting of friction brake and traction machine. This configuration offers new degrees of freedom in the control of electric vehicles. The proposed approach is based on a cascaded control structure with an inner yaw rate loop and an outer sideslip angle feedback loop. The use of sliding mode algorithms accounts for plant uncertainties and reduces the effort for controller tuning to a minimum without neglecting the aspect of energy efficiency. With the help of selected driving maneuvers it is shown that the performance of a car equipped with the advanced stability control system is superior to a car with conventional electronic stability algorithms.
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