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<p>This paper presents a novel observer-based, smooth multi-input multi-output sliding mode control strategy designed to enhance lateral vehicle stability under critical driving conditions, despite vehicle parameter uncertainties, by coordinating active front steering with direct yaw control. The proposed strategy features two control layers: the upper layer generates corrective yaw moments and additional front steering angles by coordinating active front steering with direct yaw control systems based on the MIMO control strategy, while the lower layer uses a single-input single-output version of the proposed observer-based smooth sliding mode control slip controller to convert the yaw moment into the desired longitudinal slip, resulting in distributed braking torque. Stability of the proposed controller, the proposed observers, and the finite-time stability of the closed-loop system are all proven based on Lyapunov theory in both control layers. The method’s effectiveness was evaluated through MATLAB simulations of three scenarios under various road conditions using a nonlinear 8-DOF vehicle model with parameter uncertainties, demonstrating the robustness of the control strategy. Results showed that the proposed system maintains vehicle stability with fewer control efforts but requires a longer application time of braking torque during the J-turn maneuver on slippery roads, compared to an adaptive integrated controller.</p>

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Observer-based integrated smooth MIMO sliding mode control for coordinating AFS and DYC systems under uncertainties

  • 期刊论文

  • 发表日期：

    2025年1月4日

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  • Ebrahim Muhammad,
  • Vahid Bahnamgol,
  • Ahmadreza Vali,
  • Abdoreza Kashaninia

摘要

This paper presents a novel observer-based, smooth multi-input multi-output sliding mode control strategy designed to enhance lateral vehicle stability under critical driving conditions, despite vehicle parameter uncertainties, by coordinating active front steering with direct yaw control. The proposed strategy features two control layers: the upper layer generates corrective yaw moments and additional front steering angles by coordinating active front steering with direct yaw control systems based on the MIMO control strategy, while the lower layer uses a single-input single-output version of the proposed observer-based smooth sliding mode control slip controller to convert the yaw moment into the desired longitudinal slip, resulting in distributed braking torque. Stability of the proposed controller, the proposed observers, and the finite-time stability of the closed-loop system are all proven based on Lyapunov theory in both control layers. The method’s effectiveness was evaluated through MATLAB simulations of three scenarios under various road conditions using a nonlinear 8-DOF vehicle model with parameter uncertainties, demonstrating the robustness of the control strategy. Results showed that the proposed system maintains vehicle stability with fewer control efforts but requires a longer application time of braking torque during the J-turn maneuver on slippery roads, compared to an adaptive integrated controller.