Second Order Sliding Mode Controller for Longitudinal Wheel Slip Control
This paper investigates the longitudinal wheel slip tracking control approach for ground vehicle. A mathematical model of a quarter vehicle undergoing a straight-line braking maneuver is used as the control model. Second order sliding mode (SOSM) control approach using super-twisting technique...
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| Main Authors: | , , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2012
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| Subjects: | |
| Online Access: | http://eprints.utem.edu.my/id/eprint/12146/3/Second_Order_Sliding_Mode_Controller_for_Longitudinal_Wheel_Slip_Control.pdf http://eprints.utem.edu.my/id/eprint/12146/ |
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| Summary: | This paper investigates the longitudinal wheel
slip tracking control approach for ground vehicle. A
mathematical model of a quarter vehicle undergoing a
straight-line braking maneuver is used as the control model.
Second order sliding mode (SOSM) control approach using
super-twisting technique is proposed to manipulate the
braking torque to control the wheel slip. The effectiveness of the SOSM is compared to the conventional sliding mode in
the simulations of emergency straight line braking in
Simulink. With the SOSM, the chattering phenomenon is
eliminated, giving a smooth tracking trajectory and lower
slip error and control effort. |
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