Side Slip Control of Small-Scale Electric Vehicle by DYC

This paper proposes a chassis control system utilizing DYC by using model matching control method to make the steering response of body side slip angle be constantly zero. For realizing the proposed system in an actual electric vehicle, it is necessary to estimate the side slip angle instead of measuring it directly. A speed-dependent observer is proposed in this paper. With the goal of enhancing stability, the control objective is to obtain desirable steering response by controlling the body side slip angle of the vehicle. Experiments using actual small-scale electric vehicle are carried out to verify the effectiveness of the proposed chassis control system on cornering performance in a J-turn and Lane-change tests.