NDLI: Nonlinear observer and robust controller design for enhancement of vehicle lateral stability

Content Provider	Springer Nature Link
Author	Song, Jeonghoon Boo, Kwangsuck Lee, Dae Hee
Copyright Year	2007
Abstract	This paper describes the design of a sliding mode controller to control wheel slip. A yaw motion controller (YMC), which uses a PID control method, is also proposed for controlling the brake pressure of the rear and inner wheels to enhance lateral stability. It induces the yaw rate to track the reference yaw rate, and it reduces a slip angle on a slippery road. A nonlinear observer is also developed to estimate the vehicle variables difficult to measure directly. The braking and steering performances of the anti-lock brake system (ABS) and YMC are evaluated for various driving conditions, including straight, J-turn, and sinusoidal maneuvers. The simulation results show that developed ABS reduces the stopping distance and increases the longitudinal stability. The observer estimates velocity, slip angle, and yaw rate very well. The results also reveal that the YMC improves vehicle lateral stability and controllability when various steering inputs are applied. In addition, the YMC enhances the vehicle safety on a split-μ road.
Starting Page	98
Ending Page	105
Page Count	8
File Format	PDF
ISSN	1738494X
Journal	Journal of Mechanical Science and Technology
Volume Number	21
Issue Number	1
Language	English
Publisher	Korean Society of Mechanical Engineers
Publisher Date	2007-01-01
Publisher Place	Seoul
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Observer Sliding Mode Control PID (Proportional Integral Derivative) Control YMC (Yaw Motion Controller) Side Slip Angle Vehicle Stability Mechanical Engineering Vibration, Dynamical Systems, Control Industrial and Production Engineering
Content Type	Text
Resource Type	Article
Subject	Mechanics of Materials Mechanical Engineering

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