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Robust hierarchical sliding mode control for steer-by-wire equipped vehicle yaw stability control

Wang, H.ORCID: 0000-0003-2789-9530, Shi, L. and Li, Z. (2017) Robust hierarchical sliding mode control for steer-by-wire equipped vehicle yaw stability control. In: 2017 11th Asian Control Conference (ASCC), 17 - 20 December 2017, Gold Coast, QLD, Australia pp. 239-243.

Link to Published Version: https://doi.org/10.1109/ASCC.2017.8287173
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Abstract

This paper proposes a hierarchical sliding mode controller (HSMC) for steer-by-wire (SBW) equipped vehicle yaw stability control (YSC). Considering the fact that the lateral vehicle model can be modelled as a first-order underactuated system where chassis sideslip angle and yaw rate are stable variables, we propose a RHSMC with first-level and second-level sliding surfaces to obtain a front wheel steering angle as control input, such that both the vehicle sideslip angle and yaw rate can be driven to converge to their reference values asymptotically in the presence of modelling uncertainties and external disturbances. Simulation results demonstrate the effectiveness of the proposed vehicle YSC scheme as well as the excellent tracking performance.

Item Type: Conference Paper
Publisher: IEEE
Copyright: © 2017 IEEE
URI: http://researchrepository.murdoch.edu.au/id/eprint/53382
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