A Robust Wheel Slip Controller for 4-Wheel Drive Electric Vehicle Using Integral Sliding Mode Control
- Resource Type
- Conference
- Authors
- El-bakkouri, Jamal; Ouadi, Hamid; Khafallah, Mohamed; Aoumari, Abdelaziz El; Saad, Abdallah
- Source
- 2023 9th International Conference on Control, Decision and Information Technologies (CoDIT) Control, Decision and Information Technologies (CoDIT), 2023 9th International Conference on. :1888-1893 Jul, 2023
- Subject
- Aerospace
Communication, Networking and Broadcast Technologies
Computing and Processing
General Topics for Engineers
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Uncertainty
Friction
Wheels
Hydraulic systems
Observers
Stability analysis
Robustness
- Language
- ISSN
- 2576-3555
This article deals with the problem of wheel slip control for 4-Wheel Drive (4WD) Electric Vehicles under significant uncertainties and disturbances. Based on a longitudinal four wheels model of the vehicle and the LuGre tire/road friction model, an observer-based integral sliding mode control (ISMC) is proposed. The stability analysis using the Lyapunov function of both the ISMC control law and the nonlinear observer is proved. The theoretical results validation and proposed controller robustness and practicability have been performed by CarSim-Simulink co-simulation. Finally, a comparison with traditional controllers revealed the supremacy of the offered controller.