Integrated control of active front steer angle and direct yaw moment using Second Order Sliding Mode technique

Abstract

In this paper, an improvement in the design of the integrated active front steering (AFS) and direct yaw moment control (DYC) of road vehicles is attempted. A controller using Second Order Sliding Mode (SOSM) with proportional integral (PI) sliding surface is proposed. In this controller control gains are chosen in such a way that the characteristics polynomial whose coefficients are control gains is strictly Hurwitz and asymptotic stability of the closed loop system is ensured. From simulation results it is observed that the tracking performance is improved using the SOSM. Moreover, due to elimination of chattering by the SOSM smooth tracking trajectory is also guaranteed.