차량 안정성 제어시스템의 슬라이딩 제어기 개발

This paper presents vehicle stability control system based on sliding control. The brake control inputs have been directly derived from the sliding control law based on a three degree of freedom plane vehicle model with differential braking. The sliding surface is weighted combination of vehicle side slip angle and the yaw rate error. The simulation has performed using a full nonlinear 3-dimensional vehicle model and the performance of the controller has been compared to that of a direct yaw moment controller.