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Sum of sliding variable squared for increasing SMC gain of the 32 system combinations.jpg (125.25 kB)
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The best performing zeta weightings per Group A-H .jpg (63.41 kB)
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The DLC path on a rough road for the integrated SC systems.jpg (76.2 kB)
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The DLC path on a rough road for the stand-alone SC systems.jpg (82.16 kB)
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The DLC path on a smooth road for the integrated SC systems.jpg (70.02 kB)
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The DLC path on a smooth road for the stand-alone SC systems.jpg (81.74 kB)
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A summary of the system combination numbers which comprise the stand-alone and integrated systems.jpg (84.99 kB)
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Active rear steering (ARS) control layer block diagram.jpg (64.08 kB)
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Active rear steering (ARS) emulating block diagram.jpg (28.39 kB)
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Active rear steering (ARS) linear actuator emulating block diagram.jpg (44.08 kB)
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Decision layer block diagram.jpg (91.57 kB)
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Integrated chassis controller (ICC) block diagram.jpg (267.9 kB)
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Integrated chassis controller (ICC) decision layer configurations.jpg (66.65 kB)
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Physical brake emulating block diagram.jpg (36.53 kB)
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Radar plots for different integrated stability control (SC) configurations.jpg (125.53 kB)
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Radar plots of sub-system performance normalized for different variables.jpg (195.58 kB)
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Rear differential braking (RDB) control layer block diagram.jpg (68.58 kB)
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Sliding mode controller (SMC) gains for different systems based on minimum cost function (q) output.jpg (128.76 kB)
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Off-road vehicle integrated chassis control
The data describes the design of stand-alone and integrated stability controllers using a sliding mode controller. Lateral displacement plots are presented of an off-road vehicle being controlled by the various control systems on both a smooth and rough road. The maneavre performed is a double lane change, which is an emergency lane change whereby the vehicle quickly swerves to the adjacent lane and back in order to avoid an “obstacle” in the road.
