Lateral Sliding Mode Control of an Electric Vehicle

This paper presents the model and the lateral control of an electric vehicle. A three degree-of-freedom yaw plane model is introduced to describe the lateral motion system. Two cases studies are discussed to synthetize the lateral dynamic controller. First case uses a steering wheel angle as an input and a lateral acceleration as the output. However, the second case uses a differential torque to control the yaw rate output. Simulation results illustrate the effective solution for better autonomous or assisted lateral control.