Backstepping sliding mode control and 1st order sliding mode control for wheel slip tracking: A comparison

Abstract

The wheel slip controller serves as the cornerstone of the anti-lock braking system (ABS). The friction between the road and tire, according to research, is a nonlinear function of wheel slip. Therefore, it is necessary to investigate and test a nonlinear robust wheel slip controller. The nominal model in this study is a quartercar model. In this research, a backstepping sliding mode controller (BSMC) and a first order sliding mode controller (FOSMC) are the 2 types of controller methods that are suggested and compared. The extended state observer (ESO) is used with the design of the BSMC in order to estimate the total uncertainty. A simulation software is then used to verify the viability of the suggested controllers.