{"title":"Slip Suppression Sliding Mode Control with Various Chattering Functions","authors":"Shun Horikoshi, Tohru Kawabe","volume":129,"journal":"International Journal of Electrical and Information Engineering","pagesStart":1017,"pagesEnd":1024,"ISSN":"1307-6892","URL":"https:\/\/publications.waset.org\/pdf\/10007858","abstract":"This study presents performance analysis results of\r\nSMC (Sliding mode control) with changing the chattering functions\r\napplied to slip suppression problem of electric vehicles (EVs). In\r\nSMC, chattering phenomenon always occurs through high frequency\r\nswitching of the control inputs. It is undesirable phenomenon and\r\ndegrade the control performance, since it causes the oscillations of the\r\ncontrol inputs. Several studies have been conducted on this problem\r\nby introducing some general saturation function. However, study\r\nabout whether saturation function was really best and the performance\r\nanalysis when using the other functions, weren\u2019t being done so much.\r\nTherefore, in this paper, several candidate functions for SMC are\r\nselected and control performance of candidate functions is analyzed.\r\nIn the analysis, evaluation function based on the trade-off between\r\nslip suppression performance and chattering reduction performance\r\nis proposed. The analyses are conducted in several numerical\r\nsimulations of slip suppression problem of EVs. Then, we can\r\nsee that there is no difference of employed candidate functions\r\nin chattering reduction performance. On the other hand, in slip\r\nsuppression performance, the saturation function is excellent overall.\r\nSo, we conclude the saturation function is most suitable for slip\r\nsuppression sliding mode control.","references":"[1] A. G. Mamalis, K. N. Spentzas and A. A. 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