Coordination of chassis control systems can contribute to an improved overall performance of a vehicle. In this paper, a novel vehicle stability control scheme is proposed that integrates both the direct yaw moment control and active rear steering. The controller is synthesized via an upper-level control structure and a lower-level control structure. The required yaw moment and rear steering angle are generated using a sliding-mode controller in the upper-level control. The stability of a sliding-mode controller is proved using a Lyapunov function. The yaw moment is subsequently realized by distributing the braking torque between appropriate wheels in the lower-level control using a braking torque distribution scheme. The effectiveness of the proposed controller is demonstrated through open-loop and closed-loop simulations of a non-linear vehicle model, in terms of selected vehicle handling and control performance measures, namely yaw rate and side-slip angle tracking. The results obtained for different manoeuvres suggest that the proposed two-level control scheme can help to achieve substantial enhancements in the handling performance and the stability performance of the vehicle.


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    Title :

    Enhancement of vehicle stability through integration of direct yaw moment and active rear steering


    Contributors:


    Publication date :

    2016



    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English



    Classification :

    RVK:    ZO 4200: / ZO 4200
    BKL:    55.20 / 55.20 Straßenfahrzeugtechnik
    Local classification TIB:    275/7025



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