Adaptive Sliding Mode Control in the Presence of Saturating Tire Forces

Abstract

The Authors have developed a four wheel steering controller which can handle nonlinear tire forces.A new technique, Intelligent Sliding Surface Control, has been used to prevent control system instability induced by saturated functions.In this paper, unknown tire-road contact conditions are discussed.The roubust performance of two types of controllers, a siliding mode controller and an adaptive sliding mode controller, is compared using simulation.