K.R. Buckholtz, M.W. Daniels, and D.W. Repperger (USA)
sliding mode control, brakes, wheel slip
This paper is an extension to the material covered in the Part I paper. In Part I, various sliding mode controllers are designed for the purpose of tracking a reference input wheel slip command, which is constant. The work pre sented in this extension develops various sliding mode con trollers for the purpose of tracking a time-varying reference input wheel slip command. The sliding mode controllers are the two conventionalswitching sliding mode controllers and a novel switching sliding mode controller. Two cases are investigated. Case 1 investigates the scenario where the derivative of the reference input is known. Case 2 inves tigates the scenario where the derivative of the reference input is unknown, but it is bounded and can be estimated. Through the use of simulations, it is demonstrated that the novel switching sliding mode controller has the best overall performance for both cases.
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