Title: Wheel slip control of road vehicles via switched second order sliding modes

Authors: Mara Tanelli; Antonella Ferrara

Addresses: Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza L. da Vinci, 32, 20133, Milano, Italy ' Department of Computer Engineering and Systems Science, University of Pavia, Via Ferrata 1, 27100 Pavia, Italy

Abstract: Longitudinal wheel slip control is a crucial problem in automotive systems, as it it is the basis for traction, braking and stability control. Slip dynamics get faster, and thus more difficult to govern for the rider, as speed decreases: hence, at low speed one would willingly lose tracking performance in exchange for increased safety. To achieve this, we propose a novel Switched Second Order Sliding Mode (S-SOSM) control strategy, which allows enhancing the closed-loop performance and to tune them to the current working condition. The validity of the approach is on traction control of two-wheeled vehicles.

Keywords: second order SMC; sliding mode control; switched systems; wheel slip control; automotive systems; two-wheeled vehicles; slip dynamics; traction control.

DOI: 10.1504/IJVD.2013.052704

International Journal of Vehicle Design, 2013 Vol.62 No.2/3/4, pp.231 - 253

Received: 09 Sep 2010
Accepted: 27 Jun 2011
Published online: 30 Sep 2014 *

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