On the Experimental Analysis of Integral Sliding Modes for Yaw Rate and Sideslip Control of an Electric Vehicle with Multiple Motors

Abstract

With the advent of electric vehicles with multiple motors, the steady-state and transient cornering responses can be designed based on high-level reference targets, and implemented through the continuous torque control of the individual wheels, i.e., torque-vectoring or direct yaw moment control. The literature includes several papers describing the application of the sliding mode control theory to torque-vectoring. However, the experimental implementations of sliding mode controllers on real vehicle prototypes are very limited at the moment. More importantly, to the knowledge of the authors, there is lack of experimental assessments of the performance benefits of direct yaw moment control based on sliding modes, with respect to other controllers, such as the proportional integral derivative controllers or linear quadratic regulators currenty used for stability control in production vehicles. This paper aims to reduce this gap by presenting an integral sliding mode controller for concurrent yaw rate and sideslip control. A new driving mode, the Enhanced Sport mode, is proposed, inducing sustained high values of sideslip angle, which can be safely limited to a specified threshold. The system is experimentally assessed on a four-wheeldrive electric vehicle along a wide range of maneuvers. The performance of the integral sliding mode controller is compared with that of a linear quadratic regulator during step steer tests. The results show that the integral sliding mode controller brings a significant enhancement of the tracking performance and yaw damping with respect to the more conventional linear quadratic regulator based on an augmented single-track vehicle model formulation.

Yaw Rate and Sideslip Angle Control Through Single Input Single Output Direct Yaw Moment Control

“…1) A yaw rate controller without the sideslip-based correction of the reference yaw rate, using the PI design of Section II-D, coupled with the integral sliding mode contribution of [46] and [47], implemented as a perturbation compensator providing robustness against matched disturbances. This formulation will be indicated as YR-ISMC in the remainder.…”

On the Dynamic Analysis of a Novel Snake Robot: Preliminary Results

“…As second step a deeper analisys will be developed, describing also the elastic behaviour of the track and including the dimensions of the contact surface. The work of this paper is supported by the wide experience of the authors in different fields as mobile robotics [12][13][14], service robotics [15][16] and vehicle dynamics [5,8,[17][18].…”

Evaluación de un algoritmo de torque vectoring con capacidad de frenado regenerativo

“…La referencia de yaw rate generada es, entonces, comparada con la medida actual (fácilmente medible con una plataforma inercial), para calcular el momento deseado en el eje vertical del vehículo [3]. Se debe tener en cuenta que elángulo de deslizamiento lateral del vehículo, que se puede medir o estimar [22], generalmente también se considera en los trabajos de TV [21].…”