Design of a nonlinear braking-based Yaw Rate Controller uri icon

Open Access

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Peer Reviewed

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Abstract

  • This paper is going to present a nonlinear controller design of a braking-based yaw rate controller for trucks. The proposed control structure uses a feedforward version of the exact input-output linearization. Additionally, a sliding mode control approach (SMC) is used to overcome model uncertainties as well as control errors. The practicability of the control structure is shown with simulation results of a nonlinear double track model and a three-dimensional multi body model.

Veröffentlichungszeitpunkt

  • Januar 1, 2014