Conventional Switching and Novel Switching Sliding Mode Control - Part I: Constant Reference Input Wheel Slip

K.R. Buckholtz, M.W. Daniels, and D.W. Repperger (USA)


sliding mode control, brakes, wheel slip


Application of various sliding mode controllers for the purpose of controlling wheel slip are investigated in this paper. The various sliding mode controllers are designed in such a manner to achieve the control objective of tracking a reference input wheel slip. The controllers investigated are two conventional switching sliding mode controllers and a novel switching sliding mode controller. The novel switch ing sliding mode controller incorporates the state approach angle, which is a measure of the orientation of the state tra jectory with respect to the sliding surface. Through the use of simulations, it is veriļ¬ed that the novel switching sliding mode controller demonstrates the best overall performance of the three controllers.

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