Abstract
Abstract
This paper presents a differential braking strategy for vehicle stability control. The controller has been designed using a three-degree-of-freedom (3DOF) yaw plane vehicle model, and a simulation study has been performed using a full non-linear three-dimensional vehicle model. The brake control inputs have been directly derived from the sliding control law based on a 3DOF yaw plane vehicle model with differential braking. The performance of the sliding controller has been compared with that of the direct yaw moment controller (DYC). Simulation results have shown that the proposed controller can provide a vehicle with superior performance with respect to brake actuation and system smoothness and can minimize the acceleration and jerk without compromising stability at high speed and large steering angle input.
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