Wheel Slip Control via Second-Order Sliding-Mode Generation

  title={Wheel Slip Control via Second-Order Sliding-Mode Generation},
  author={Matteo Amodeo and Antonella Ferrara and Riccardo Terzaghi and Claudio Vecchio},
  journal={IEEE Transactions on Intelligent Transportation Systems},
During skid braking and spin acceleration, the driving force exerted by the tires is reduced considerably, and the vehicle cannot speed up or brake as desired. It may become very difficult to control the vehicle under these conditions. To solve this problem, a second-order sliding-mode traction controller is presented in this paper. The controller design is coupled with the design of a suitable sliding-mode observer to estimate the tire-road adhesion coefficient. The traction control is… CONTINUE READING
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