Comparing Internal Model Control and Sliding-Mode Approaches for Vehicle Yaw Control

摘要: In this paper, the problem of vehicle yaw control using a rear active differential is investigated. The proposed structure employs reference generator designed to improve handling, feedforward contribution that enhances transient system response, and feedback controller. Due uncertainties wide range operating situations, which are typical automotive context, robust technique needed guarantee stability. Two different controllers, based on internal model sliding mode methodologies, respectively, designed, their performances compared by means extensive simulation tests performed realistic 14-degree-of-freedom (DOF) considered vehicle. obtained results show effectiveness with both controllers highlight respective benefits drawbacks. presented comparative study first step devise new mixed strategy able exploit techniques.