Differential Steering System for Vehicular Yaw Tracking Motion with Help of Sliding Mode Control

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The paper deals with modeling and control of differential steering for vehicular motions with help of sliding mode control (SMC). A four-wheel mechanical model of the vehicular dynamics is proposed and validated by simulations. A control strategy based on the SMC is proposed for yaw dynamics to improve travel comfort and the stability of vehicular motion. The desired yaw trajectory is given, and the equivalent and corrective control parts of the SMC are dually calculated by the controller. Simulation results show the effectiveness of the proposed control strategy.

Original languageEnglish
Title of host publication23rd International Carpathian Control Conference, ICCC 2022
EditorsDan Popescu, Lucian-Florentin Barbulescu, Elvira Popescu, Monica Roman, Dorin Sendrescu
Number of pages6
PublisherInstitute of Electrical and Electronics Engineers Inc.
Publication date06.2022
ISBN (Print)978-1-6654-6637-0
ISBN (Electronic)978-1-6654-6635-6, 9781665466363
Publication statusPublished - 06.2022
Event23rd International Carpathian Control Conference - ICCC 2022 - University of Craiova, Sinaia, Romania
Duration: 29.05.202201.06.2022

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