Second order sliding modes control for rope winch based automotive driver robot
by Benedikt Alt; Elias Hermann; Ferdinand Svaricek
International Journal of Vehicle Design (IJVD), Vol. 62, No. 2/3/4, 2013

Abstract: In this contribution a second order sliding modes control algorithm for position tracking of an in-vehicle driver robot is introduced. For this purpose a recently developed rope winch based automotive driver robot is considered. Here, the distance between a brake, clutch or accelerator pedal and the ground of the driver's cab should follow a given reference value. Nonlinear simulations and experimental results show the efficiency and the robustness properties of the proposed second order sliding modes control design approach.

Online publication date: Tue, 30-Sep-2014

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