Title: Second order sliding modes control for rope winch based automotive driver robot

Authors: Benedikt Alt; Elias Hermann; Ferdinand Svaricek

Addresses: Department of Aerospace Engineering, Control Engineering Group, University of the German Armed Forces Munich, Werner-Heisenberg-Weg 39, 85577 Neubiberg, Germany ' Department of Aerospace Engineering, Control Engineering Group, University of the German Armed Forces Munich, Werner-Heisenberg-Weg 39, 85577 Neubiberg, Germany ' Department of Aerospace Engineering, Control Engineering Group, University of the German Armed Forces Munich, Werner-Heisenberg-Weg 39, 85577 Neubiberg, Germany

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.

Keywords: second order SMC; sliding mode control; variable structure systems; VSS; electrical drives; automotive applications; rope winch based robots; automotive driver robots; in-vehicle driver robots; nonlinear simulation; pedal actuators; pedal robots; dynamic driving manoeuvres; robust control; position tracking; autonomous vehicles; vehicle control; robot control.

DOI: 10.1504/IJVD.2013.052707

International Journal of Vehicle Design, 2013 Vol.62 No.2/3/4, pp.147 - 164

Received: 02 Nov 2010
Accepted: 30 Sep 2011

Published online: 18 Mar 2013 *

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