Fuzzy sliding mode control of networked control systems and applications to independent-drive electric vehicles

Abstract

This paper dedicates to deal with the chattering phenomena of conventional sliding mode controllers (SMCs) applied in networked control systems (NCSs) and two new robust fuzzy sliding mode controllers for the lateral motion control of 4-wheel-independent-drive electric vehicles (4WID-EVs) are presented. It is well known that SMC has distinct advantages for nonlinear dynamic systems such as 4WID-EVs. However, a modern 4WID-EV has been a NCS, which will inevitably impose network-induced delays. The severe chartering phenomena arises when the conventional SMC is applied in NCSs. In order to make full use of the advantages of SMC and NCS in 4WID-EVs, two new fuzzy sliding-mode controllers are presented. First, the control-oriental model of a second-order dynamic system is derived, chattering problem is analyzed in detail. Then two fuzzy sliding mode control controllers are designed and the network-induced delays are determined. Afterwards, the lateral motion control model of a 4WID-EV based on CAN is presented and the proposed controllers are applied to this model. Finally, Simulations demonstrate the effectiveness and robustness of the proposed controllers.