Model Reference Variable Structure Control for Improving Vehicle Active Safety
提高车辆主动安全性的模型参考变结构控制方法

A model reference variable structure controller based on Lyapunov function was designed to generate additional yaw moment of the vehicle for improving active safety.This controller was expected to make the actual vehicle response tracking the reference model.The proposed simulation model was employed to calculate the yaw rate and slip angle response characteristics of a vehicle under sine steering angle and J-turn input.It shows that the handling and stability of the vehicle is significantly improved as compared to the uncontrolled one.The control strategy is robust to vehicle speed and road condition variations,and uncertainties.