Design and Robustness Analysis of Global Chassis Controller with Respect to Parametric Uncertainty

Robust control in the presence of system uncertainty has been a subject of extensive study in the field of automotive chassis control. In this paper a Global Chassis Controller based on sliding mode control is proposed for automotive vehicles with 4-wheel electric hub motors and steer-by-wire system (sbw). The performance of the sliding mode controller is evaluated via computer simulations for standard driving manoeuvres. The second part of this paper generalizes the classical Mikhailov stability result for proving formally the robust stability of the chassis controller with respect to plant parametric uncertainty like vehicle mass, vehicle yaw inertia and unmodeled dynamics. Robust stability analysis is carried out graphically by employing the modified Mikhailov stability results like Zero exclusion Theorem and Value set analysis.