Lateral roll control of vehicle based on UKF and sliding model control. (2016)

• Record Type: Journal Article
• Authors: Zhou, Bing; Li, Ning; Song, Yitong; Geng, Yuan; Long, Lefei
• Is Part Of: International journal of vehicle noise and vibration. Volume 12:Number 3(2016)
• Page Start: 217
• Page End: 228
• Publication Date: 2016
• Subjects: unscented Kalman filter -- UKF -- magic formula tyre model -- roll angle -- roll rate -- sliding mode control -- SMC -- lateral roll control -- vehicle control -- dynamic modelling -- kinematics -- roll stability control -- controller design -- variable structure control -- VSC; Automobiles -- Noise -- Periodicals; Automobiles -- Vibration -- Periodicals; 629.231
• Languages: English
• ISSNs: 1479-1471

Abstract

A 3-DOF dynamical model of vehicle is built in this paper by using MATLAB/Simulink. Considering nonlinear tyre performance, the magic formula tyre model is used to improve the accuracy of the model. For the difficulty of measuring the roll angle and roll rate, an observer for the roll angle and roll rate based on the dynamical model of vehicle and kinematic relations is designed in this paper, tracking the roll angle and roll rate in the process of driving based on the easily measured status parameters, using unscented Kalman filter. Then, this method is tested through experiments. Finally, based on the estimated roll angle and roll rate, a roll stability controller based on the sliding model variable structure control theory is designed.