Second order sliding mode controller for longitudinal wheel slip control

Author

Hamzah, Norhazimi ; Sam, Yahaya Md ; Selamat, Hazlina ; Aripin, M. Khairi ; Ghazali, Rozaimi

Author_Institution

Fac. of Electr. Eng., Univ. Teknol. MARA, Pulau, Malaysia

fYear

2012

fDate

23-25 March 2012

Firstpage

138

Lastpage

143

Abstract

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.

Keywords

braking; machining chatter; road vehicles; slip; torque control; tracking; trajectory control; variable structure systems; vehicle dynamics; SOSM control approach; Simulink; braking torque; chattering phenomenon; control effort; control model; emergency straight line braking; ground vehicle; longitudinal wheel slip control; longitudinal wheel slip tracking control approach; mathematical model; quarter vehicle; second order sliding mode controller; slip error effort; smooth tracking trajectory; straight-line braking maneuver; super-twisting technique; Control systems; Force; Tires; Torque; Vehicle dynamics; Vehicles; Wheels; Sliding Mode Control; Wheel slip; super-twisting;

fLanguage

English

Publisher

ieee

Conference_Titel

Signal Processing and its Applications (CSPA), 2012 IEEE 8th International Colloquium on

Conference_Location

Melaka

Print_ISBN

978-1-4673-0960-8

Type

conf

DOI

10.1109/CSPA.2012.6194706

Filename

6194706