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Yaw rate and side-slip control considering vehicle longitudinal dynamics

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Abstract

Most conventional vehicle stability controllers operate on the basis of many simplifying assumptions, such as a small steering wheel angle, constant longitudinal velocity and a small side-slip angle. This paper presents a new approach for controlling the yaw rate and side-slip of a vehicle without neglecting its longitudinal dynamics and without making simplifying assumptions about its motion. A sliding-mode controller is used to develop a differential braking controller for tracking a desired vehicle yaw rate for a given steering wheel angle, while keeping the vehicle’s side-slip angle as small as possible. The trade-off that exists between yaw rate and side-slip control is described. Conventional and proposed algorithms are presented, and the effectiveness of the proposed controller is investigated using a seven-degree-of-freedom vehicle dynamics model. The simulation results demonstrate that the proposed controller is more effective than the conventional one.

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Abbreviations

C ai :

ith tire cornering stiffness

F xgi , F ygi :

ith longitudinal and lateral tire-ground forces, respectively, in the ground frame

F xwi , F ywi :

ith longitudinal and lateral tire forces, respectively, in the tire frame

J zz :

yaw moment of inertia

l f , l r :

distance from the center of gravity to the front rear axle

m ui :

ith unsprung (wheel) mass

m s :

suspended (chassis) mass

m t :

vehicle total (chassis and wheels) mass

r wi :

ith effective wheel radius

t l , t r :

left and right half-track widths, respectively

v xwi ,v xyi :

ith longitudinal and lateral wheel velocities, respectively

v x ,v y :

vehicle longitudinal and lateral velocity, respectively

β :

vehicle side-slip angle

δ :

steering wheel angle

ω z :

vehicle yaw rate

ω wi :

ith spinning wheel velocity

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Correspondence to R. Tchamna.

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Tchamna, R., Youn, I. Yaw rate and side-slip control considering vehicle longitudinal dynamics. Int.J Automot. Technol. 14, 53–60 (2013). https://doi.org/10.1007/s12239-013-0007-1

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  • DOI: https://doi.org/10.1007/s12239-013-0007-1

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