In this chapter the application of Sliding Mode Control techniques is illustrated to solve the longitudinal vehicle dynamics control problem. Sliding Mode Control is a nonlinear control method capable of offering a number of benefits, the majority of which is its robustness versus a significant class of uncertainties. It can also be profitably used to efficiently solve automotive control and observation problems, as widely testified in the literature. The aim of this chapter is to provide an overview on the longitudinal dynamics control of vehicles, in particular electric vehicles with individual motors for each wheel, focusing on recent developments based on Sliding Mode Control theory.

Chapter Contents:

• 2.1 Introduction
• 2.2 TC and ABS control systems
• 2.2.1 Traction control systems
• 2.2.2 Antilock braking systems
• 2.2.3 Overview of sliding mode applications in wheel-slip control
• 2.3 Modeling of vehicle longitudinal dynamics
• 2.3.1 Longitudinal tire model
• 2.3.1.1 Tire model equation
• 2.3.2 Vehicle model
• 2.4 Sliding mode observer for tire-road friction and velocity
• 2.4.1 Sliding mode tire-road friction observer
• 2.4.1.1 Vehicle velocity and tire-road friction estimation
• 2.4.2 Observer evaluation
• 2.5 Sliding mode control algorithms for wheel-slip control
• 2.5.1 Integral sliding mode control
• 2.5.2 Higher order sliding mode control
• 2.5.3 Suboptimal second order sliding mode control
• 2.5.4 Integral suboptimal second order sliding mode control
• 2.5.5 Super twisting sliding mode control
• 2.5.6 Simulations
• 2.6 Sliding mode low level actuation in conventional ABS
• 2.6.1 HIL braking system configuration
• 2.6.2 Low level control algorithm
• 2.6.3 Low level control results
• 2.7 Conclusions
• Acknowledgments
• References

Inspec keywords: vehicle dynamics; nonlinear control systems; variable structure systems; electric vehicles

Other keywords: sliding mode control techniques; electric vehicles; nonlinear control method; longitudinal vehicle dynamics control; sliding modes generation

Subjects: Vehicle mechanics; Transportation system control; Multivariable control systems; Nonlinear control systems