Yaw rate and sideslip tracking for 4-wheel steering cars using sliding mode control

Akar, Mehmet

doi:10.1109/cacsd-cca-isic.2006.4776830

Cited by 5 publications

(2 citation statements)

References 13 publications

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“…2 This topic has gained attention in recent years and numerous control strategies for active steering have been proposed. [3][4][5][6][7][8] Active front steering (AFS) is one type of active steering. AFS can be integrated with electric power steering and has been investigated and extensively applied to the yaw stability control of vehicle.…”

Section: Introductionmentioning

confidence: 99%

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Design of an active front steering system for a vehicle using an active disturbance rejection control method

Sang

Chen

2019

Science Progress

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A linear vehicle model is commonly employed in the controller design for an active front steering (AFS). However, this simplified model has a considerable influence on the accuracy of the controller. In this article, an AFS controller using an active disturbance rejection control (ADRC) technique is proposed to prevent this problem. The AFS controller was established in MATLAB/Simulink to control the CarSim vehicle model for verification of the simulation. Under the straight-line driving disturbance condition, proportion-integration-differentiation (PID) control and ARDC substantially decreased with respect to the uncontrolled lateral offset and ADRC performed better than PID control. Under the double lane change (DLC) test working condition, the tracking error of the path, yaw rate, roll angle, and lateral acceleration, and error of the driving direction were used to evaluate the vehicle’s controllability and stability. These evaluation indexes were substantially improved by PID control and ADRC; similarly, ADRC was better than PID control. The tracking error of the ADRC in the presence of parameter variance and external disturbance was significantly smaller than that of PID control. The results have verified that the AFS controller based on ADRC can significantly improve vehicle controllability and stability.

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Section: Introductionmentioning

confidence: 99%

“… 2 This topic has gained attention in recent years and numerous control strategies for active steering have been proposed. 3 – 8 …”

Section: Introductionmentioning

confidence: 99%

Design of an active front steering system for a vehicle using an active disturbance rejection control method

Sang

Chen

2019

Science Progress

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Vertical Dynamics Emulation Using a Vehicle Equipped with Active Suspension

Akar

Kalkkuhl

Suissa

2007

2007 IEEE Intelligent Vehicles Symposium

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A sliding mode theory based chassis controller for vehicle emulation

Akar

Kalkkuhl

2008

2008 International Workshop on Variable Structure Systems

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In this paper, we investigate the emulation capabilities of an integrated chassis controller (ICC) we have designed for vehicle emulation. The proposed ICC is primarily based on sliding mode theory, and it utilizes 4-wheel automatic steering and active suspension units for emulating desired lateral and vertical motion. The performance of the ICC is evaluated by realistic experiments in an advanced nonlinear simulator, and it is seen that a broad range of ground vehicles can be emulated successfully.

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Yaw rate and sideslip tracking for 4-wheel steering cars using sliding mode control

Cited by 5 publications

References 13 publications

Design of an active front steering system for a vehicle using an active disturbance rejection control method

Design of an active front steering system for a vehicle using an active disturbance rejection control method

Vertical Dynamics Emulation Using a Vehicle Equipped with Active Suspension

A sliding mode theory based chassis controller for vehicle emulation

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