Vehicle stability control based on RBF adaptive terminal sliding mode controller

摘要

Aiming at solving the problem of vehicle stability, the vehicle stability robust control strategy based on the adaptive terminal sliding mode algorithm is developed. First of all, a robust sliding mode observer is designed by the two degree-of-freedom vehicle model to get ideal side slip angle and yaw rate on the basis of the steering wheel angle and longitudinal speed. The deviation of real-ideal side-slip angle and that of real-ideal yaw rate are set as the input variables. Based on the sliding mode control theory, a radical basis function (RBF) adaptive terminal sliding mode control method is proposed. The proposed method can solve the car stability problems caused by the modeling inaccuracy, parameter perturbation, and the change of external environment condition. This method can also improve the speediness and robustness. To validate the proposed method, a simulation was conducted.