A Disturbance Observer-based Sliding Mode Control for Yawrate and Sideslip angle control of Four-Wheel Steering Vehicle

Abstract

Disturbances and non-linearities are the most commonly faced challenges that arise while designing the control for active four-wheel steering system. A sliding mode controller based disturbance observer is used to overcome these challenges. Thus, the controller is designed to enhance the maneuvering stability and vehicle safety. The proposed controller keeps the yaw rate and sideslip angle at the desired value. As disturbance estimation takes place in real-time, bounds of disturbances are not required while designing the controller. Simulation is performed to validate the vehicle s steering stability. Also robustness of the controller is verified by using Lyapunov stability criteria.