Comparing Sliding-Mode Control and PID Approaches for Vehicle Stability Control

Da Wei Pi; Wei Dong; Xian Hui Wang

doi:10.4028/www.scientific.net/AMM.472.321

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 472Comparing Sliding-Mode Control and PID Approaches...

Comparing Sliding-Mode Control and PID Approaches for Vehicle Stability Control

Abstract:

In this paper, the problem of vehicle yaw control using differential braking is investigated. The proposed control structure employs the wheel slip controller to apply differential braking to generate the yaw moment calculated by the yaw controller. A fuzzy logic based target slip allocation method is also designed. Due to system uncertainties and wide range operation conditions, two different yaw controller which are based on sliding-mode control and PID control are designed, and their performances are compared by hardware in loop simulation. The obtained results show the effectiveness of the proposed control structure with both yaw controllers, but the sliding mode based yaw controller can be more robust.

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Periodical:

Applied Mechanics and Materials (Volume 472)

Pages:

321-326

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.472.321

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Online since:

January 2014

Authors:

Da Wei Pi, Wei Dong, Xian Hui Wang

Keywords:

Differential Braking, PID Control, Robust, Sliding Mode Control, Vehicle Stability Control

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