IJCAS

This paper investigates an integrated multi-input multi-output (MIMO) sliding mode control strategy to coordinate the active front steering (AFS) and direct yaw control (DYC) system of a vehicle. The proposed control method aims to enhance the lateral dynamics of the vehicle, especially in the presence of tire-road friction coefficient variations as parameter uncertainties. The proposed integrated control strategy consists of two control layers. The upper layer coordinates the AFS and DYC systems and produces the corrective yaw moment and additive front steering angle. At the lower layer, the slip controller based on sliding mode control (SMC) converts the yaw moment into the desired longitudinal slip and generates the final distributed braking torques. Simulations of two scenarios in various road conditions were conducted to ensure that the proposed control is robust against road condition changes in the proposed method. Results from the simulation during the J-turn maneuver on the slippery road compared the performance of the suggested sliding mode integrated controller with an adaptive integrated controller. The simulation results showed that the proposed control system improved the stability and handling of the system’s tracking performance in various maneuvers.

Keywords: Active front control, direct yaw moment control, integrated control, lateral vehicle stability, sliding mode control.