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

In this paper, the authors examine the problem of vehicle yaw control using a rear active differential. They propose a control structure that uses a reference generator designed to improve vehicle handling, a feedforward component that enhances the transient system response, and a feedback controller. A robust control technique is also included for guaranteeing system stability. Two different robust feedback controllers, based on internal model control and sliding mode methodologies, are designed, and their performances are compared through simulation tests. Results show the effectiveness of the proposed control structure with both feedback controllers. Benefits, as well as drawbacks, are discussed.

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  • Authors:
    • Canale, Massimo
    • Fagiano, Lorenzo
    • Ferrara, Antonella
    • Vecchio, Claudio
  • Publication Date: 2009-3


  • English

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Filing Info

  • Accession Number: 01142745
  • Record Type: Publication
  • Source Agency: UC Berkeley Transportation Library
  • Files: BTRIS, TRIS
  • Created Date: Oct 5 2009 3:09PM