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Second order sliding mode controller for longitudinal wheel slip control

This paper investigates the longitudinal wheel slip tracking control approach for ground vehicle. A mathematical model of a quarter vehicle undergoing a straight-line braking maneuver is used as the control model. Second order sliding mode (SOSM) control approach using super-twisting technique is pr...

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Main Authors: Hamzah, Norhazimi, Md. Sam, Yahaya, Selamat, Hazlina, Aripin, M. K., Ghazali, R.
Format: Book Section
Published: IEEE 2012
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/35909/
http://dx.doi.org/10.1109/CSPA.2012.6194706
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spelling my.utm.359092017-06-14T02:25:31Z http://eprints.utm.my/id/eprint/35909/ Second order sliding mode controller for longitudinal wheel slip control Hamzah, Norhazimi Md. Sam, Yahaya Selamat, Hazlina Aripin, M. K. Ghazali, R. TK Electrical engineering. Electronics Nuclear engineering This paper investigates the longitudinal wheel slip tracking control approach for ground vehicle. A mathematical model of a quarter vehicle undergoing a straight-line braking maneuver is used as the control model. Second order sliding mode (SOSM) control approach using super-twisting technique is proposed to manipulate the braking torque to control the wheel slip. The effectiveness of the SOSM is compared to the conventional sliding mode in the simulations of emergency straight line braking in Simulink. With the SOSM, the chattering phenomenon is eliminated, giving a smooth tracking trajectory and lower slip error and control effort. IEEE 2012 Book Section PeerReviewed Hamzah, Norhazimi and Md. Sam, Yahaya and Selamat, Hazlina and Aripin, M. K. and Ghazali, R. (2012) Second order sliding mode controller for longitudinal wheel slip control. In: Proceedings - 2012 IEEE 8th International Colloquium on Signal Processing and Its Applications, CSPA 2012. IEEE, New York, USA, pp. 138-143. ISBN 978-146730961-5 http://dx.doi.org/10.1109/CSPA.2012.6194706 DOI:10.1109/CSPA.2012.6194706
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Hamzah, Norhazimi
Md. Sam, Yahaya
Selamat, Hazlina
Aripin, M. K.
Ghazali, R.
Second order sliding mode controller for longitudinal wheel slip control
description This paper investigates the longitudinal wheel slip tracking control approach for ground vehicle. A mathematical model of a quarter vehicle undergoing a straight-line braking maneuver is used as the control model. Second order sliding mode (SOSM) control approach using super-twisting technique is proposed to manipulate the braking torque to control the wheel slip. The effectiveness of the SOSM is compared to the conventional sliding mode in the simulations of emergency straight line braking in Simulink. With the SOSM, the chattering phenomenon is eliminated, giving a smooth tracking trajectory and lower slip error and control effort.
format Book Section
author Hamzah, Norhazimi
Md. Sam, Yahaya
Selamat, Hazlina
Aripin, M. K.
Ghazali, R.
author_facet Hamzah, Norhazimi
Md. Sam, Yahaya
Selamat, Hazlina
Aripin, M. K.
Ghazali, R.
author_sort Hamzah, Norhazimi
title Second order sliding mode controller for longitudinal wheel slip control
title_short Second order sliding mode controller for longitudinal wheel slip control
title_full Second order sliding mode controller for longitudinal wheel slip control
title_fullStr Second order sliding mode controller for longitudinal wheel slip control
title_full_unstemmed Second order sliding mode controller for longitudinal wheel slip control
title_sort second order sliding mode controller for longitudinal wheel slip control
publisher IEEE
publishDate 2012
url http://eprints.utm.my/id/eprint/35909/
http://dx.doi.org/10.1109/CSPA.2012.6194706
_version_ 1643649875556958208
score 13.160551

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