Two-stage adaptive sliding-mode controller for vehicle yaw stability using differential ABS

Abstract

With increasing number of on-road transportation vehicles, the demand for passenger safety and comfort is inevitable. This inspired to develop technologically sophisticated automobiles with active safety systems that provide improved vehicle handling during critical driving situations. Yaw stability controller prevents the vehicle from spinning and drifting-out under loss of traction during a turning maneuver. This paper presents a controller design based on sliding mode principle with two-stage sliding surfaces considering yaw rate and body sideslip angle errors as primary and secondary surfaces respectively. A simplified model of the vehicle during a turning (Slalom + DLC) maneuver is been considered and the dynamic equations of the desired states were summed up and used to design the sliding surface. Computer simulations have been conducted to verify the proposed approach, with results indicating its effectiveness and robustness for yaw stability control.