Abstract
A multi-layer integrated controller of active front steering and direct yaw moment is developed in this study. In the upper layer, the corrective steering angle and yaw moment are obtained using Sliding Mode Control (SMC) with combined sliding surface. The corrective yaw moments are applied by electric motors embedded in rear wheels. The desired value for yaw rate and sideslip angle are obtained from a Four-Degrees of Freedom (DOF) non-linear vehicle model. In the lower layer, wheel slip and electric motor torque controllers are designed. A 9-DOF non-linear vehicle model is used for simulations and their results illustrate considerable improvements in vehicle handling.
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