Hamzah, Norhazimi and Md. Sam, Yahaya and Selamat, Hazlina and Aripin, M. K. and Ghazali, R. (2012) Second order sliding mode controller for longitudinal wheel slip control. In: Proceedings - 2012 IEEE 8th International Colloquium on Signal Processing and Its Applications, CSPA 2012. IEEE, New York, USA, pp. 138-143. ISBN 978-146730961-5
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Official URL: http://dx.doi.org/10.1109/CSPA.2012.6194706
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.
| Item Type: | Book Section |
|---|---|
| Additional Information: | Indexed by Scopus |
| Uncontrolled Keywords: | sliding mode control, super-twisting, wheel slip |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Electrical Engineering |
| ID Code: | 35909 |
| Deposited By: | Fazli Masari |
| Deposited On: | 04 Dec 2013 01:17 |
| Last Modified: | 14 Jun 2017 02:25 |
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