Integrated Control of Yaw Moment and Wheel Slip for Heavy Commercial Road Vehicles

A Direct Yaw-moment Controller (DYC) is proposed to ensure the directional stability of Heavy Commercial Road Vehicles (HCRVs) during combined cornering and braking maneuvers. A wheel slip controller is integrated with DYC to prevent locking of wheels during the full application of brakes. DYC utilizes a Sliding Mode Controller (SMC) to generate the required yaw moment to be produced by the longitudinal forces. A reaching law based SMC for wheel slip controller is implemented to coordinate with the proposed DYC. To compensate for the time-delay in the pneumatic brake system of HCRVs, a brake controller with a predictor-based delay handling technique has also been incorporated in the design. The importance of inclusion of delay compensation and the performance of an integrated control strategy is demonstrated through Hardware-in-Loop (HiL) experiments.