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Design of a nonlinear braking-based yaw rate controller

: Nitzsche, Gunter; Volz, Benjamin; Röbenack, Klaus; Wagner, Sebastian; Zipser, Stephan


European Control Association -EUCA-:
European Control Conference, ECC 2014. Proceedings. Vol.3 : Strasbourg, France, 24 - 27 June 2014
Piscataway, NJ: IEEE, 2014
ISBN: 978-1-4799-4728-7
ISBN: 978-3-9524269-1-3
European Control Conference (ECC) <13, 2014, Strasbourg>
Fraunhofer IVI ()

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.