Lateral vehicle dynamics control via sliding modes generation

This chapter introduces the application of Sliding Mode Control techniques by solving the lateral Vehicle Stability Control (VSC) problem. In Section 4.1 the linearized single track model is presented, which is typically used for the design of lateral stability controllers. The formulation of the yaw rate control problem is also explained, starting from the equations of motion. In Section 4.2, we propose a survey of the different methods for the control of the vehicle lateral dynamics, which are known from the research literature. The control structure and the specific sliding mode controllers which are presented in this chapter are illustrated in Section 4.3 and assessed in Section 4.4, where the results of the simulations are reported and discussed.