Abstract
Dynamic stability is critical to achieve the safety of the cars, particularly during emergency maneuvers. Coordinated control algorithms are suggestive of the enhanced safety and stability of a vehicle. Hence, a novel adaptive robust multi-input control framework is developed using the combination of direct yaw moment (DYC) and active front steering (AFS). The dynamics of the steering system mechanism is included for the reliability of the proposed control scheme. The proposed controller is developed according to the approximation capacity of the radial basis function (RBF) neural network system. The adaptation laws are derived based on the Lyapunov stability theory. Additionally, the proposed integrated control paradigm contains a state observer and the sliding surface of the tracking errors converges to the asymptotic stability condition through the design of a smooth exponential reaching law. The effectiveness of the proposed control scheme is compared to a high-performance optimal robust control technique and open-loop system. In order to assess the robustness of the proposed algorithm, structured and unstructured uncertainties were also incorporated in terms of the parametric uncertainties such as the tire cornering stiffness and cross-wind gust disturbance. The results obtained for different maneuvers reveal that the proposed controller is successful to improve the handling performance and to ensure the stability of the vehicle when compared to the previously reported methods.
Highlights
Vehicle motion control schemes have been massively evolved within the last couple of decades to respond to the demands on fuel efficiency, ride comfort, safety, and vehicle stability.[1,2] Invariants of control paradigms have been practiced concerning improved vehicle stability.[3,4] For instance, active front steering (AFS),[5,6] antilock braking systems (ABS),[7] and direct yaw-moment control (DYC)[8,9] are commonly regarded as effective methods to generate the required yaw stability and cornering performance
In light of the explored arguments, this paper proposes a novel control agenda to stabilize the vehicle lateral dynamics and provide motion stability and improved handling of vehicle by employing a coordinated DYC + AFS
The present paper mainly contributes through the development and synthesis of a coordinated AFS + DYC control framework in order to enhance the vehicle lateral stability and maneuverability
Summary
Vehicle motion control schemes have been massively evolved within the last couple of decades to respond to the demands on fuel efficiency, ride comfort, safety, and vehicle stability.[1,2] Invariants of control paradigms have been practiced concerning improved vehicle stability.[3,4] For instance, active front steering (AFS),[5,6] antilock braking systems (ABS),[7] and direct yaw-moment control (DYC)[8,9] are commonly regarded as effective methods to generate the required yaw stability and cornering performance. The slip-angle and yaw-rate states of the vehicle demonstrate quicker convergence and responsiveness as compared to the optimal robust controller.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
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 call
