Citation

Chen W, Zhang R, Zhao L, Wang H, Wei Z. Proc. Inst. Mech. Eng. Pt. D J. Automobile Eng. 2019; 233(4): 776-789.

Copyright

(Copyright © 2019, Institution of Mechanical Engineers, Publisher SAGE Publishing)

DOI

10.1177/0954407017753529

PMID

unavailable

Abstract

A 3-degree of freedom (DOF) nonlinear model including yaw, lateral, and roll motions was constructed, and a numerical simulation of chaotic behavior was performed using the Lyapunov exponent method. The vehicle motion is complex, manifesting double-periodic, quasi-periodic, and chaotic phases, which negatively affects the vehicle lateral stability. To control this chaotic behavior, a controller was designed based on the sliding mode variable structure control (SM-VSC) method. To decrease chattering and further improve lateral stability of the vehicle under extreme operating conditions, the adaptive power reaching law was realized by using a fuzzy control method. The performance of the SM-VSC system was simulated by using Matlab/simulink. The simulation results including the uncontrol, SM-VSC control, and adaptive-reaching SM-VSC control were compared, which demonstrated that the adaptive-reaching SM-VSC control method is more effective in suppressing the chaotic phase of the vehicle lateral motion. The approach proposed in this paper can significantly improve a vehicle's lateral stability under extreme operating conditions.

Language: en