Adaptive sliding mode control for a vehicle stability system

This paper presents a vehicle stability controller based on an adaptive sliding mode algorithm for yielding the vehicle yaw rate and side-slip angle to track their target values. The control law is derived using the yaw dynamics of a seven-degrees-of-freedom vehicle model, allowing the smallest yaw rate error to be achieved while maintaining the reasonable limits of the side-slip angle. The effectiveness of the control system is tested under different driving conditions through computer simulation by using a CarSim vehicle model. The simulation results showed the high performance of the designed controller even under critical operating conditions.