An observer-based second order sliding mode vehicle control strategy

In this paper a variable structure control strategy for cruise and tracking control of vehicles has been proposed. It is characterized by the generation of "second order" sliding regimes, i.e., sliding modes characterized by an identically null derivative of sliding variable. Because of the lack of measurements, the use of observer is suitably exploited in the paper. On the whole, in spite of its variable structure nature, the proposed strategy is designed so as to guarantee a bounded jerk and to avoid too frequent changes between the use of the accelerator and the brake. The control strategy is robust to parameters variations, and uncertainties.