Enhanced Vehicle Stability Control with Smooth Sliding Mode and Tire Slip-Based Allocation in ESC Systems

This paper proposes a novel chattering-free sliding mode control strategy to enhance vehicle lateral stability. The hierarchical control architecture includes an upper controller, a control allocation layer, and a lower controller. The upper controller determines the desired yaw moment, considering model uncertainties. The control allocation layer distributes longitudinal tire slip to achieve this yaw moment. The lower controller tracks the desired slip using braking torque. The proposed control structure offers the significant advantages of robustness to uncertainties, smoothness, and finite-time convergence, simultaneously. Simulation results on a 10-DOF vehicle model during a double lane change maneuver validate the proposed method’s superiority in tracking performance, chattering suppression, and reduced braking effort compared to conventional sliding mode control.