Summary In this paper a sliding mode integral action controller and sliding mode observer are used to enhance vehicle stability in a split- µ manoeuvre. Anti-lock braking systems (ABS) have become an integral part of modern cars, and they have dramatically improved vehicle handling in braking manoeuvres. However, when a vehicle attempts to brake on a surface with uneven friction coefficient such as on wet or icy roads, a so-called split- µ scenario, the yaw moment generated by the asymmetric braking can prove demanding for an inexperienced driver. The controller presented hereworks in conjunction with a conventional ABS system to provide safe and effective braking through steer-by-wire. This paper extends previous state-feedback work by only using certain measurable quantities in the controller, estimating further signals by employing an observer.
Automotive Steering Control in a Split-µ Manoeuvre Using an Observer-Based Sliding Mode Controller
Vehicle System Dynamics ; 41 , 3 ; 181-202
2004-01-01
22 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Unbekannt
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