VEHICLE DYNAMICS CONTROL WITH TORQUE VECTORING AND ACTIVE REAR STEERING USING SLIDING MODE CONTROL

摘要

In this paper, the design of a vehicle dynamics controller is presented. Two active systems, an active-rear-steering system and a torque-vectoring system are used to improve driveability and stability of a car. Following the ideas of sliding mode control a multi-input-multi-output control law is derived. The usability of our approach is shown by simulation and by on-road tests with a prototype car.