Abstract
In this Paper, active front steering and direct yaw moment of a vehicle are proposed to be controlled simultaneously to improve its stability. Two structures are used in this control strategy named as the upper and lower levels of control. The adaptive sliding-mode control (SMC) technique is used in the upper-level control in order to generate the corrective steering wheel angle and yaw moment. The realization of the yaw moment is done through braking between appropriate wheels in the lower-level control. Lyapunov criterion is introduced to prove the stability of the sliding mode controller. Tracking performances of yaw-rate and side-slip angle of a Sports Car is simulated to show the proposed controller's effectiveness.
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