A Novel Integral Terminal Sliding Mode Control of Yaw Stability for Steer-by-Wire Vehicles

In this paper, a novel integral terminal sliding mode control scheme is developed, to enhance the yaw stability of a steer-by-wire (SbW) vehicle. A yaw rate controller using integral terminal sliding mode control (ITSMC) strategy is designed based on the tracking error between the actual yaw rate and the desired yaw rate. Because the required sideslip angle information is difficult to measured directly for practical applications, a sliding mode observer(SMO) based on a two-wheel bicycle model is proposed to estimate the sideslip angle accurately. The uniqueness of the proposed control is that not only are the high tracking precision and strong robustness of the SbW vehicles against system nonlinearities and disturbances achieved, but also the fast error convergence can be ensured. Simulation results based on Matlab and CarSim are demonstrated to verify the excellent yaw tracking and anti-interference performance of the proposed controller.