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Second order sliding mode controller for longitudinal wheel slip control

Hamzah, Norhazimi and Aripin, M Khairi and Md Sam, Yahaya and Selamat, Hazlina and Ghazali, Rozaimi (2012) Second order sliding mode controller for longitudinal wheel slip control. In: IEEE 8th International Colloquium on Signal Processing and its Applications (CSPA), 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)
Uncontrolled Keywords: sliding mode control; wheel slip; supertwisting
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ212-225 Control engineering systems. Automatic machinery (General)
Depositing User: Normajihan Abd. Rahman
Date Deposited: 15 Feb 2015 06:58
Last Modified: 15 Feb 2015 06:58
URI: http://eprints.uthm.edu.my/id/eprint/6137
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