Vehicle stability controller based on adaptive sliding mode algorithm with estimated vehicle side-slip angle

This paper presents a vehicle stability controller acting on the braking system to generate a compensated yaw moment. The goal is to minimize the yaw-rate error and ensure that the side-slip angle is within acceptable limits. The controller is derived using an adaptive sliding mode algorithm with the estimated vehicle side-slip angle. The proposed algorithm takes the advantages of fast response, favorable transient performance, and robust parameter variations. The estimator is derived by using an extended Kalman filtering algorithm. Both the controller and estimator are designed basing on a seven-degree-offreedom vehicle model. The simulation results of the control system evidenced high performance.