SMC-I with Approach Angle Method for Slip Suppression of Electric Vehicles

Abstract

This study presents SMC-I (sliding mode control with integral action) with approach angle method applied toslip suppression problem of electric vehicles (EVs). In SMC, chattering phenomenon always occurs throughhigh frequency switching of the control inputs. It is undesirable phenomenon and degrade the controlperformance, since it causes the oscillations of the control inputs. Several studies have been conductedon this problem by introducing standard saturation function. However, studies about whether saturationfunction was really best weren ’t done so much. Therefore, in this paper, the SMC-I with approach anglemethod is proposed to improve the performance of chattering reduction and slip suppression. Then, several candidate functions for SMC are selected and both performances are compared with the proposed method. In the performance analysis, evaluation function based on the trade-off between slip suppression performance and chattering reduction performance is also proposed. The analyses are conducted in several numerical simulations of slip suppression problem of EVs.

Keywords

• sliding mode control
• chattering
• electric vehicle
• slip suppression
• approach angle