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A sliding mode theory based chassis controller for vehicle emulation

In this paper, we investigate the emulation capabilities of an integrated chassis controller (ICC) we have designed for vehicle emulation. The proposed ICC is primarily based on sliding mode theory, and it utilizes 4-wheel automatic steering and active suspension units for emulating desired lateral and vertical motion. The performance of the ICC is evaluated by realistic experiments in an advanced nonlinear simulator, and it is seen that a broad range of ground vehicles can be emulated successfully.