Research Article

Smooth Sliding Mode Control for Vehicle Rollover Prevention Using Active Antiroll Suspension

Figure 3

Comparisons of the uncontrolled and the controlled vehicle dynamics responding to Fishhook experiment with sliding mode control parameters , , , , , and and sliding surface bound .
(a) Fishhook maneuver
(b) Rollover index
(c) Roll angle
(d) Roll rate
(e) Yaw rate
(f) Antiroll moment