A Decentralized Multilayer Sliding Mode Control Architecture for Vehicle’s Global Chassis Control, and Comparison with a Centralized Architecture

Abstract

This paper presents a decentralized Global Chassis Control (GCC) architecture. The objective of this global chassis controller is to improve the overall vehicle performance i.e maneuverability, lateral stability and rollover avoidance, by coordinating the Active Front steering, Direct Yaw Control and Active Suspensions in a decentralized architecture. The developed architecture is multilayer, and based on higher order sliding-mode control, the super-twisting algorithm. The proposed GCC is validated by simulation using Matlab/Simulink, and a comparison is done with a centralized LPV /H ∞ architecture that has been developed in the laboratory, to show the difference in behavior and performance of both strategies of control.