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

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.

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