Enhanced active front steering control using sliding mode control under varying road surface condition

Abstract

In vehicle lateral dynamic control, the handling quality or steering ability of the vehicle is determined by the yaw rate response performances. The uncertainty of tire cornering stiffness due to varying tire-road adhesion coefficient, u caused by road surfaces perturbation during cornering manoeuvre may influence the transient performances of yaw rate response. Therefore, in this research, the enhanced control law of robust yaw rate tracking controller using the Sliding Mode Control (SMC) algorithm is proposed for active front steering (AFS) control strategy to improve the yaw rate response as desired. The vehicle lateral dynamics behaviors are described using the linear and nonlinear vehicle models. The linear 2 degree-of-freedom (DOF) single track model is used for controller design while the nonlinear 7 DOF two-track model is used for simulation and controller evaluations. The sliding surface of SMC is design based on yaw rate tracking error information. The control law equation is enhanced by integrating the uncertainty of cornering stiffness at the front wheels and to ensure the controller stability, the Lyapunov stability theory is applied. The transient performances and performance indices of AFS control responses are evaluated using the step steer and single lane change cornering manoeuvres test for varying values of u at dry, wet and snow or icy road surfaces. The simulations results demonstrated that the proposed enhanced control law using SMC is able to track the reference yaw rate with similar transient response performances. The proposed enhanced control law also provided low performance indices of ITAE and IAE compared to the conventional control law using SMC and robust CNF control for lower value of u at wet and snow or icy road surface. In terms of percentage of differential performance indices, the proposed control law has a better tracking ability of up to 58.45% compared to two other control laws. Therefore, this research concluded that the proposed enhanced control law using SMC has overcome the cornering stiffness uncertainty in AFS control strategy for different road surfaces during cornering manoeuvre and this enhancement is expected as a knowledge contribution to vehicle lateral dynamic study.