This paper aims at designing, in the discrete-time setting and using sliding mode techniques, some controllers ensuring the tracking of desired references of lateral and yaw velocities for a ground vehicle with active front steering and rear torque vectoring actuators. The vehicle is described by an enhanced discrete-time model, recently presented in the literature. These three controllers have been designed considering the modified equivalent control method for perturbation attenuation, the discrete-time-like super-twisting algorithm, and the discrete-time reaching law. They have been tested with a simulation study using CarSim, where the three controllers are compared under parametric variations, external perturbations, and different sampling periods.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.