LAUSR

The paper presents the design of a new adaptive optimization based Second Order Sliding Mode (SOSM) control algorithm for uncertain nonlinear systems. It is designed on the basis of a SOSM control with optimal reaching, with the aim of reducing the control effort while maintaining all the positive aspects in terms of finite time convergence and robustness in front of matched uncertainties. These features are beneficial in order to guarantee good performance in case of vehicle dynamics control, a crucial topic in the light of the increasing demand of semi-autonomous and autonomous driving capabilities in commercial vehicles. The new proposal is theoretically analyzed, as well as verified relying on an extensive comparative study, carried out on a realistic simulator of a 4-wheeled vehicle, in the case of a lateral stability control system. Copyright c © 2010 John Wiley & Sons, Ltd.