Abstract
This study investigates the improvement of off-road vehicle lateral stability by integrated control of active rear steering (ARS) and rear differential braking (RDB) and how the performance of such systems compares on smooth and rough roads. The ARS and RDB controllers comprise a sliding mode controller (SMC) for which critical design choices are the SMC reference model, SMC gain and integration rule. Findings include that the kinematic model reference error is preferred over the phase plane location error on both terrains, the SMC gain is terrain dependent, and the rear axle slip angle is the preferred integration rule over the stability index (SI) on both terrains. The study also found that RDB, and to a lesser degree ARS, tends to improve on the baseline vehicle path-following ability for a double lane change (DLC) manoeuvre on both terrains, but RDB has a larger loss of speed compared to ARS. The Rear axle slip angle was found to be a terrain-dependent tuneable integration rule to combine ARS and RDB, and this resulted in a control system that has the good path-following ability of RDB but the low loss of speed associated with ARS after tuning.
Published Version
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.
