Reference Input Wheel Slip Tracking Using Sliding Mode Control 2002-01-0301
The design of a sliding mode controller for the purpose of controlling wheel slip, λ, is described in this paper. The control objective is to track a reference input wheel slip, λr. Through the use of tire force measurements or observers, it is shown that the sliding mode controller can track any reference input wheel slip, λr. The design strategy investigated is based on a sliding surface that only contains the error between the reference input wheel slip, λr, and the actual wheel slip, λ. The design strategy uses continuous switching, in the form of a saturation function, to reduce chattering in the system response. Simulations are performed to demonstrate the effectiveness of the proposed sliding mode controller.