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

In this paper, a robust sliding mode controller is proposed for automotive vehicles with 4-wheel steering capability in order to emulate some desired sideslip and yaw rate dynamics. Analytically, it is shown that the proposed controller is robust to plant parameter variations by ±%10, and is invariant to unmeasurable wind disturbance. The performance of the sliding mode controller is evaluated via computer simulations to verify its robustness to vehicle parameter variations and delay in the loop, and its insensitivity to wind disturbance.