Development Of Active Steering Control Based On Sliding Mode Control With The Inclusion Of An Observer

Ng, Xue Yan (2017) Development Of Active Steering Control Based On Sliding Mode Control With The Inclusion Of An Observer. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

The purpose of this project is to enhance the performance of steering control of a vehicle.A nonlinear active steering control system which will overcome the disturbances such as road conditions and crosswind is designed in order to achieve that purpose.Based on a single track car model,the model of the active steering control system is derived and simulated.A nonlinear active steering controller is designed by using the Sliding Mode Control (SMC) strategy which the side slip angle is used as the control parameters and an observer for Sliding Mode Control (SMC) had been developed.The proposed controller is applied to the nonlinear system, simulated and tuned using Matlab/Simulink platform.The various types of disturbance such as crosswind disturbance and braking torque disturbance and the road friction coefficient are been applied to the proposed controller in order to analyze the stability and controllability of the proposed controller.The performance of the developed controller is compared with the performance of other controllers such as Linear Quadratic Regulator (LQR) and pole placement controller to determine its robustness and stability.

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