@article{ref1,
title="Vehicle stability control of small electric vehicle on snowy road",
journal="Review of automotive engineering",
year="2006",
author="Fujimoto, H and Tsumasaka, A and Noguchi, Toshikuni",
volume="27",
number="2",
pages="279-286",
abstract="In this paper, novel direct yaw-moment control (DYC) with road condition estimation and anti-slip control is proposed for electric vehicles. An inner-loop observer controls the vehicle traction, and an outer-loop controller stabilizes the yawing motion. An immeasurable parameter known as cornering stiffness is estimated from the detected yaw-rate, steering angle, wheel speed and yaw-moment observer output in real time. Thus, the accurate control input can be generated with the estimated parameters. The proposed adaptive control is compared with a conventional robust control on dry and snowy terrain conditions. The experimental results show that the yaw-rate error is properly attenuated by the proposed control algorithm. <p />",
language="",
issn="1349-4724",
doi="",
url="http://dx.doi.org/"
}