Title: Lateral roll control of vehicle based on UKF and sliding model control

Authors: Bing Zhou; Ning Li; Yitong Song; Yuan Geng; Lefei Long

Addresses: State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Faculty of Mechanical and Vehicle Engineering, Hunan University, Changsha, China ' State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Faculty of Mechanical and Vehicle Engineering, Hunan University, Changsha, China ' State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Faculty of Mechanical and Vehicle Engineering, Hunan University, Changsha, China ' State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Faculty of Mechanical and Vehicle Engineering, Hunan University, Changsha, China ' State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Faculty of Mechanical and Vehicle Engineering, Hunan University, Changsha, China

Abstract: A 3-DOF dynamical model of vehicle is built in this paper by using MATLAB/Simulink. Considering nonlinear tyre performance, the magic formula tyre model is used to improve the accuracy of the model. For the difficulty of measuring the roll angle and roll rate, an observer for the roll angle and roll rate based on the dynamical model of vehicle and kinematic relations is designed in this paper, tracking the roll angle and roll rate in the process of driving based on the easily measured status parameters, using unscented Kalman filter. Then, this method is tested through experiments. Finally, based on the estimated roll angle and roll rate, a roll stability controller based on the sliding model variable structure control theory is designed.

Keywords: unscented Kalman filter; UKF; magic formula tyre model; roll angle; roll rate; sliding mode control; SMC; lateral roll control; vehicle control; dynamic modelling; kinematics; roll stability control; controller design; variable structure control; VSC.

DOI: 10.1504/IJVNV.2016.080137

International Journal of Vehicle Noise and Vibration, 2016 Vol.12 No.3, pp.217 - 228

Received: 22 Jun 2015
Accepted: 21 Apr 2016
Published online: 04 Nov 2016 *

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