Abstract
This paper describes a combined tire longitudinal slip and lateral slip angle tracking control approach as part of an overall advanced vehicle dynamics control system. Nonlinear sliding mode control is used to manipulate the driving/braking/steering of each wheel to track slip and slip angles specified by a higher-level controller and a control allocation algorithm. Controlling slip and slip angles, which depend on individual wheel and vehicle dynamic states, relies on a tire model to estimate the induced tire longitudinal and lateral forces as well as self-aligning moment. Further, vehicle body states are treated here as exogenous signals independent of the slip/slip angle controller in order to isolate and simplify the control design. The performance of this control approach is evaluated and compared against results for conventional vehicle control systems in a full-vehicle CarSimreg model simulation. Improved performance is observed under an adverse split-mu hard braking scenario
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
