Abstract
This paper presents a decentralized Global Chassis Control (GCC) architecture. The objective of this global chassis controller is to improve the overall vehicle performance i.e maneuverability, lateral stability and rollover avoidance, by coordinating the Active Front steering, Direct Yaw Control and Active Suspensions in a decentralized architecture. The developed architecture is multilayer, and based on higher order sliding-mode control, the super-twisting algorithm. The proposed GCC is validated by simulation using Matlab/Simulink, and a comparison is done with a centralized \(LPV/\mathscr {H}_\infty \) architecture that has been developed in the laboratory, to show the difference in behavior and performance of both strategies of control.
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Notes
- 1.
“SCANeR Studio” is a simulator dedicated to vehicle dynamics simulations.
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Acknowledgement
The authors would like to thank the Hauts-de-France Region and the European Regional Development Fund (ERDF) 2014/2020 for the funding of this work, through the SYSCOVI project. This work was also carried out in the framework of the Labex MS2T, (Reference ANR-11-IDEX-0004-02) and the Equipex ROBOTEX (Reference ANR-10-EQPX-44-01) which were funded by the French Government, through the program “Investments for the future” managed by the National Agency for Research.
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Hamdan, A., Chokor, A., Talj, R., Doumiati, M. (2021). A Decentralized Multilayer Sliding Mode Control Architecture for Vehicle’s Global Chassis Control, and Comparison with a Centralized Architecture. In: Hajji, B., Mellit, A., Marco Tina, G., Rabhi, A., Launay, J., Naimi, S. (eds) Proceedings of the 2nd International Conference on Electronic Engineering and Renewable Energy Systems. ICEERE 2020. Lecture Notes in Electrical Engineering, vol 681. Springer, Singapore. https://doi.org/10.1007/978-981-15-6259-4_61
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DOI: https://doi.org/10.1007/978-981-15-6259-4_61
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