Vehicle yaw stability control using rear active differential via sliding mode control methods

Daniel Rubin; Shai Arogeti

doi:https://doi.org/10.1109/MED.2013.6608740

Vehicle yaw stability control using rear active differential via sliding mode control methods

Daniel Rubin, Shai Arogeti

Department of Mechanical Engineering

Ben-Gurion University of the Negev

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The problem of vehicle yaw control is addressed in this paper using a rear active differential. The controller objective is to minimize the yaw-rate error and body slipangle error of target values. A new Sliding mode controller is designed using a nonlinear 2DOF vehicle model and a sliding surface that integrates the vehicle yaw-rate error and slipangle error. Two control law approaches, namely, saturation control and saturation plus constant gain control where tested. Simulations performed using CarSim and Matlab/Simulink show robust stability in face of model uncertainties and superior performances of the saturation plus constant gain control.

Original language	English
Title of host publication	2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings
Pages	317-322
Number of pages	6
DOIs	https://doi.org/10.1109/MED.2013.6608740
State	Published - 15 Oct 2013
Event	2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Platanias-Chania, Crete, Greece Duration: 25 Jun 2013 → 28 Jun 2013

Publication series

Name	2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings

Conference

Conference	2013 21st Mediterranean Conference on Control and Automation, MED 2013
Country/Territory	Greece
City	Platanias-Chania, Crete
Period	25/06/13 → 28/06/13

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Control and Systems Engineering

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https://doi.org/10.1109/MED.2013.6608740

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Rubin, D., & Arogeti, S. (2013). Vehicle yaw stability control using rear active differential via sliding mode control methods. In 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings (pp. 317-322). Article 6608740 (2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings). https://doi.org/10.1109/MED.2013.6608740

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title = "Vehicle yaw stability control using rear active differential via sliding mode control methods",

abstract = "The problem of vehicle yaw control is addressed in this paper using a rear active differential. The controller objective is to minimize the yaw-rate error and body slipangle error of target values. A new Sliding mode controller is designed using a nonlinear 2DOF vehicle model and a sliding surface that integrates the vehicle yaw-rate error and slipangle error. Two control law approaches, namely, saturation control and saturation plus constant gain control where tested. Simulations performed using CarSim and Matlab/Simulink show robust stability in face of model uncertainties and superior performances of the saturation plus constant gain control.",

author = "Daniel Rubin and Shai Arogeti",

year = "2013",

month = oct,

day = "15",

doi = "https://doi.org/10.1109/MED.2013.6608740",

language = "English",

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series = "2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings",

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note = "2013 21st Mediterranean Conference on Control and Automation, MED 2013 ; Conference date: 25-06-2013 Through 28-06-2013",

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Rubin, D & Arogeti, S 2013, Vehicle yaw stability control using rear active differential via sliding mode control methods. in 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings., 6608740, 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings, pp. 317-322, 2013 21st Mediterranean Conference on Control and Automation, MED 2013, Platanias-Chania, Crete, Greece, 25/06/13. https://doi.org/10.1109/MED.2013.6608740

Vehicle yaw stability control using rear active differential via sliding mode control methods. / Rubin, Daniel; Arogeti, Shai.
2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings. 2013. p. 317-322 6608740 (2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - The problem of vehicle yaw control is addressed in this paper using a rear active differential. The controller objective is to minimize the yaw-rate error and body slipangle error of target values. A new Sliding mode controller is designed using a nonlinear 2DOF vehicle model and a sliding surface that integrates the vehicle yaw-rate error and slipangle error. Two control law approaches, namely, saturation control and saturation plus constant gain control where tested. Simulations performed using CarSim and Matlab/Simulink show robust stability in face of model uncertainties and superior performances of the saturation plus constant gain control.

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Rubin D, Arogeti S. Vehicle yaw stability control using rear active differential via sliding mode control methods. In 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings. 2013. p. 317-322. 6608740. (2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings). doi: https://doi.org/10.1109/MED.2013.6608740

Vehicle yaw stability control using rear active differential via sliding mode control methods

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