This paper presents two new sliding controllers for stability control: a dynamic surface controller designed to minimize the sideslip angle and a single surface sliding controller with a weighted combination of yaw rate, nominal yaw rate and sideslip angle. In a simple simulation study using planar vehicle dynamics and a nonlinear tire model, these two controllers are shown to perform better than simpler designs incorporating only sideslip or yaw rate alone. The controllers are different in several respects, however, with the dynamic surface controller demonstrating superior robustness and the single surface controller providing better responsiveness to the driver. The paper explains the inherent reasons behind these results and the implications for future work.


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    Titel :

    A comparison of several sliding surfaces for stability control


    Weitere Titelangaben:

    Ein Vergleich verschiedener Gleitoberflächen für die Stabiltätssteuerung


    Beteiligte:
    Uematsu, K. (Autor:in) / Gerdes, J.C. (Autor:in)


    Erscheinungsdatum :

    2002


    Format / Umfang :

    8 Seiten, 7 Bilder, 3 Tabellen, 12 Quellen


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Datenträger


    Sprache :

    Englisch





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