Enhanced Sliding Mode Wheel Slip Controller for Heavy Goods Vehicles

This paper introduces an improved version of a sliding mode slip controller for pneumatic brake system of heavy goods vehicles, HGVs. Using the Fast Actuating Brake Valve, FABV, allows to adopt advance control approaches for wheel-slip controllers which provide features such as fast dynamic response, stability and robustness. In this paper, the sliding mode algorithm which was developed for the speed dependent wheel slip control using the FABV hardware is analysed and improved. The asymptotic convergence properties of the control algorithm are proven using Lyapunov stability theory and therobustness of the method is investigate