Özet:

Desired optimum handling performance of the vehicle hardly be achieved at high vehicle speed due to unpredictable road condition such as uneven surface and slippery road during raining with the existing control algorithm. This paper is focusing on the integration of two robust controller which are Sliding Mode Controller (SMC) and Feedforward controller into the vehicle simulation model to improve the handling performance of the vehicle. Disturbance rejection problem arises from the SMC controller was highlighted and the solution proposed to overcome it. Through the simulation in Simulink, SMC-Feedforward shows average improvement of approximately 30.42 % and 39.41 % for J-Turn and Double Lane Change (DLC) test respectively. The proposed controller has successfully solved the disturbance rejection problem by minimizing the disturbance effect on the vehicle model, which improve the handling performance of the vehicle in terms of yaw rate and sideslip angle.

Anahtar Kelimeler: