Abstract
Most of conventional vehicle motion control algorithms have been developed assuming that the relation between the tire-road friction and the slip rate of the tire is linear. Designing a control scheme, assuming that the relation is no more linear, could enhance the safety of the vehicle. In this study, a sliding mode controller is designed for a steady-state circular drift of a vehicle, where the linearity does not hold. Simulation results show that the vehicle motion could be stabilized by the proposed control system.
