Vehicle Sliding Mode Control with Adaptive Upper Bounds: Static versus Dynamic Allocation to Saturated Tire Forces

<table>Yaw angle velocity in split-<svg height="9.6750002" id="M261" style="vertical-align:-2.29482pt" version="1.1" viewbox="0 0 9.6374998 9.6750002" width="9.6374998" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,9.675)">
<g transform="translate(72,-64.26)">
<text transform="matrix(1,0,0,-1,-71.95,66.6)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝜇</tspan>
</text>
</g>
</g>
</svg> scenario.</table>

Mathematical Problems in Engineering

fig6

Figure 6

Figure 6: Vehicle Sliding Mode Control with Adaptive Upper Bounds: Static versus Dynamic Allocation to Saturated Tire Forces 