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

Figure 4

Comparisons of the uncontrolled and the controlled vehicle dynamics responding to J-turn experiment with sliding mode control parameters , , , , , and and sliding surface bound .

(a) J-turn maneuver

(b) Rollover index

(c) Roll angle

(d) Roll rate

(e) Yaw rate

(f) Antiroll moment