Open AccessActive steering control for vehicle rollover risk reduction based on slip angle estimation
Author(s) -
Shao Ke,
Zheng Jinchuan,
Deng Bin,
Huang Kang,
Zhao Han
Publication year - 2020
Publication title -
iet cyber‐systems and robotics
Language(s) - English
Resource type - Journals
ISSN - 2631-6315
DOI - 10.1049/iet-csr.2019.0030
Subject(s) - rollover (web design) , control theory (sociology) , estimator , slip (aerodynamics) , observer (physics) , computer science , slip angle , sliding mode control , controller (irrigation) , vehicle dynamics , acceleration , active steering , engineering , steering wheel , automotive engineering , control (management) , mathematics , artificial intelligence , nonlinear system , agronomy , classical mechanics , quantum mechanics , world wide web , biology , aerospace engineering , statistics , physics
In this study, a robust controller is proposed for rollover risk suppression in automatically‐driven vehicles by reducing the lateral acceleration through a steer‐by‐wire system equipped on the vehicles. First, since the slip angle is difficult to measure directly, a sliding mode observer combining an add‐on switching term with a linear observer is developed to provide more robust estimation of slip angle in the presence of system uncertainties. Second, an adaptive sliding mode control method is proposed, in which the control gain is adaptively tuned to compensate for the system uncertainties. Lastly, simulation is conducted and the results verify that the proposed estimator and controller can reduce the vehicle rollover risk efficiently and robustly.