Title: Design of electronic stability control for rollover prevention using sliding mode control

Authors: Bo-Chiuan Chen; Cheng-Chi Yu; Wei-Feng Hsu; Min-Fang Lo

Addresses: Department of Vehicle Engineering, National Taipei University of Technology, 1, Sec. 3, Chung-Hsiao E. Rd., Taipei 10608, Taiwan. ' Department of Vehicle Engineering, National Taipei University of Technology, 1, Sec. 3, Chung-Hsiao E. Rd., Taipei 10608, Taiwan. ' Department of Vehicle Engineering, National Taipei University of Technology, 1, Sec. 3, Chung-Hsiao E. Rd., Taipei 10608, Taiwan. ' Chung-Shan Institute of Science and Technology, 15, Shi Qi Zi, Gaoping village, Taoyuan 325, Taiwan

Abstract: Electronic Stability Control (ESC) can be used for rollover prevention via coupled yaw-roll dynamics. A three-Degree-of-Freedom (3DOF) yaw plane model is used to design the sliding mode controller. The sliding surface consists of yaw rate following error, sideslip angle and lateral acceleration. Three trigger rules are used to activate the differential braking. CarSim is used to evaluate the proposed approach under Double Lane Change (DLC), FMVSS 126 and NHTSA Fishhook manoeuvres. Robustness of increased CG height, mass and inertia due to multi-passenger loading is also investigated. Simulation results show promising improvement for rollover prevention while meeting the requirement of yaw motion control.

Keywords: ESC; electronic stability control; sliding mode control; SMC; vehicle rollover; rollover prevention; differential braking; control design; yaw plane models; yaw-roll dynamics; yaw rate following error; sideslip angle; lateral acceleration; multi-passenger loading; simulation; yaw motion control.

DOI: 10.1504/IJVD.2011.043269

International Journal of Vehicle Design, 2011 Vol.56 No.1/2/3/4, pp.224 - 245

Received: 24 Dec 2009
Accepted: 30 Oct 2010
Published online: 10 Apr 2015 *

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