Second Order Sliding Mode Controller for Longitudinal Wheel Slip Control

Aripin, Muhamad Khairi and Norhazimi , Hamzah and Yahaya, Md. Sam and Norhazlina, Selamat and Mohd Rozaimi, Ghazali (2012) Second Order Sliding Mode Controller for Longitudinal Wheel Slip Control. In: 2012 IEEE 8th International Colloquium on Signal Processing and its Applications (CSPA2012), 23-25 March 2012, Melaka, Malaysia.

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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.

Item Type: Conference or Workshop Item (Paper)
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Electrical Engineering > Department of Control, Instrumentation & Automation
Depositing User: Mr Muhamad Khairi Aripin
Date Deposited: 18 Apr 2014 09:45
Last Modified: 28 May 2015 04:22
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