Title :
Vehicle stability enhancement based on second order sliding mode control
Author :
Hamzah, N. ; Sam, Y.M. ; Selamat, Harihodin ; Aripin, M. Khairi ; Ismail, M.F.
Author_Institution :
Fac. of Electr. Eng., Univ. Teknol. MARA, Pulau, Malaysia
Abstract :
The vehicle handling and stability in emergency situation can be enhanced with direct yaw moment control (DYC). In this paper, a new controller using super twisting technique based on second order sliding mode control (SOSM) is proposed for the yaw moment control. The controller is designed based on two degree of freedom (2DOF) nonlinear model. The effectiveness of the proposed controller is compared to PI controller and conventional sliding mode controller by co-simulations in CarSim and Matlab/Simulink. The results show that the SOSM give better performance in tracking the desired response necessary for the vehicle handling and stability. In addition, the chattering phenomenon is also reduced, giving a smooth tracking trajectory.
Keywords :
PI control; control system synthesis; nonlinear control systems; road vehicles; stability; variable structure systems; 2DOF nonlinear model; CarSim cosimulations; DYC; SOSM; controller design; direct yaw moment control; emergency situation; second order sliding mode control; vehicle handling; vehicle stability enhancement; chattering; direct yaw moment; second order sliding mode; super twisting; vehicle handling and stability;
Conference_Titel :
Control System, Computing and Engineering (ICCSCE), 2012 IEEE International Conference on
Conference_Location :
Penang
Print_ISBN :
978-1-4673-3142-5
DOI :
10.1109/ICCSCE.2012.6487212
