Uncertainty modelling and high performance robust controller for active front steering control

Abstract

This paper studies the application of sliding mode control (SMC) using the nonlinear sliding surface for yaw rate tracking of active front steering (AFS) control. The nonlinear vehicle model is described to simulate the vehicle plant while the linear uncertain vehicle model with uncertainty of cornering stiffness is established for controller design and analysis. The design of nonlinear sliding surface, AFS control law based SMC and its stability is discussed. The preliminary results of desired yaw rate and uncontrolled vehicle response is presented. It is expected that the propose high performance robust control strategy could improve the yaw rate transient performances in presence of uncertainty.