Amirreza Parvareh - Amirkabir University of Technology, Tehran
Mahyar Naraghi - Amirkabir University of Technology, Tehran

A yaw stability control system is designed to prevent spinning and make the vehicle follow the desired yaw rate. In this paper, we introduce a two-layer control structure. The upper layer consists of Direct Yaw moment Controller (DYC) based on sliding mode control. The lower-layer consists of the braking force distribution algorithm and the Slip Ratio Control (SRC) system that generates the brake torque on the appropriate tire and prevents the wheels from locking. In the SRC system, The Anti-lock Braking System (ABS) is designed based on sliding mode control. The performance of the control system is evaluated for slippery road maneuvers. A ۹-DOF three-axle heavy truck with uncertain dynamics has been considered. The three-axle heavy truck model is validated by TruckSim software and simulation tests. Simulation results indicate the effectiveness of the proposed controllers.

Three-axle heavy Truck, DYC, ABS, sliding mode control, slip control