Control of Vehicle Lateral Dynamics using Sliding Mode with Time-Varying Switching Surface

시변 절환면을 갖는 슬라이딩 모드에 의한 차량의 횡방향 운동제어

This paper presents a design of the controller for vehicle lateral dynamics using active yaw moment. Vehicle lateral motion is incorporated with directional controllability and stability. These are conflicting each other from the view of vehicle handling performance. To compromise the trade-off between these two aspects, we suggest a new control algorithm based on the sliding mode with time-varying switching surface according to the body side slip angle. The controller can deal with the nonlinear region in vehicle driving and be robust to the parameter uncertainties in the plant model. Control performance was evaluated from the simulation.