In this paper a sliding mode integral action controller and sliding mode observer are used to enhance vehicle stability in a split-my 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-my scenario, the yaw moment generated by the asymmetric braking can prove demanding for an inexperienced driver. The controller presented here works 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-my manoeuvre using an observer-based sliding mode controller
Vehicle System Dynamics ; 41 , 3 ; 181-202
2004
22 Seiten, 22 Quellen
Article (Journal)
English
Automotive Steering Control in a Split-µ Manoeuvre Using an Observer-Based Sliding Mode Controller
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