Sliding Mode and Inertial Delay Based Direct Yaw Moment Control for AGVs

被引：2
作者：
Patil, Sayali S. [1 ]
Wanaskar, Vijayraj [1 ]
Shendge, P. D. [1 ]
Phadke, S. B. [1 ]
机构：
[1] Coll Engn Pune, Dept Instrumentat & Control, Pune, Maharashtra, India
来源：
2021 6TH INTERNATIONAL CONFERENCE FOR CONVERGENCE IN TECHNOLOGY (I2CT) | 2021年
关键词：
Direct yaw moment control (DYC); Inertial delay control (IDC); Sliding mode control (SMC); Active front steering (AFS); ELECTRIC VEHICLES; COMBINED AFS; STABILITY; SYSTEMS;
D O I：
10.1109/I2CT51068.2021.9418161
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
The direct yaw moment control (DYC) obtained using active front-wheel steering and differential forces at each wheel is an effective technique in achieving vehicle stability. In this paper, a sliding mode and inertial delay control (IDC) is designed to achieve DYC. In this method, the uncertainties in vehicle parameters and external disturbances are estimated using IDC and used in the sliding mode control (SMC) framework to force the vehicle to track the desired yaw rate and sideslip angle. The proposed controller is free from chatter and does not need the uncertainties' bound. The stability of the controller is established using the Lyapunov theory. The potency of the prospective controller has been proved by executing the simulation for varying driving conditions.
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页数：6
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