A Robust Wheel Slip Controller for 4-Wheel Drive Electric Vehicle Using Integral Sliding Mode Control

El–bakkouri, Jamal; Ouadi, Hamid; Khafallah, Mohamed; Aoumari, Abdelaziz El; Saad, Abdallah

doi:10.1109/codit58514.2023.10284332

2023 9th International Conference on Control, Decision and Information Technologies (CoDIT) 2023

DOI: 10.1109/codit58514.2023.10284332

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A Robust Wheel Slip Controller for 4-Wheel Drive Electric Vehicle Using Integral Sliding Mode Control

Jamal El–bakkouri,

Hamid Ouadi,

Mohamed Khafallah

et al.

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2024

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Cited by 3 publications

References 16 publications

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Theoretical Development and Experimental Evaluation of a Nonlinear Observer for sensorless WECS

Mansouri,

El-bakkouri,

El Magri

et al. 2024

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Theoretical Development and Experimental Evaluation of a Nonlinear Observer for sensorless WECS

Mansouri,

El-bakkouri,

El Magri

et al. 2024

IFAC-PapersOnLine

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Designing control systems and multimode power management of WECS including Energy Storage

Mansouri,

El-bakkouri,

El Magri

et al. 2024

IFAC-PapersOnLine

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Research on a Path Tracking Control Strategy for Autonomous Vehicles Based on State Parameter Identification

Shi,

Chu,

Cai

et al. 2024

WEVJ

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With the rapid development of autonomous driving technology, estimating and controlling key vehicle state parameters under complex road conditions have become critical challenges. This study combines Unscented Kalman Filtering (UKF) and Sliding Mode Control (SMC) methods to propose an integrated control model for achieving more efficient control. First, a three-degrees-of-freedom vehicle dynamics model based on the Dugoff tire model is constructed to accurately estimate key vehicle state parameters. Next, UKF is used to estimate road friction coefficients and key vehicle state parameters, and its performance is compared with Extended Kalman Filtering (EKF) under various conditions. The results show the superiority of UKF in identifying road friction coefficients. Based on SMC theory, a sliding surface is designed, and the functional relationship between state variables and control variables is derived to establish the corresponding control model. Joint simulations using Carsim and Simulink under different conditions validate the real-time performance and effectiveness of the designed UKF-SMC integrated control strategy in the presence of external disturbances and system uncertainties. Simulation results indicate that this strategy effectively enhances the overall performance and safety of autonomous vehicles, providing an accurate real-time solution capable of handling complex and variable road conditions. The proposed UKF-SMC integrated control strategy not only proves its theoretical superiority but also demonstrates promising practical applications in simulation experiments. This study provides reliable technical support for the development of autonomous driving technology under complex road conditions.

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A Robust Wheel Slip Controller for 4-Wheel Drive Electric Vehicle Using Integral Sliding Mode Control

Cited by 3 publications

References 16 publications

Theoretical Development and Experimental Evaluation of a Nonlinear Observer for sensorless WECS

Theoretical Development and Experimental Evaluation of a Nonlinear Observer for sensorless WECS

Designing control systems and multimode power management of WECS including Energy Storage

Research on a Path Tracking Control Strategy for Autonomous Vehicles Based on State Parameter Identification

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