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The wheel slip control is the basis of active safety control systems and intelligent driver assistance  systems. This paper presents a new robust backstepping sliding mode controller for reference input wheel slip tracking based on the single-corner model combined with the actuator dynamics. The proposed controller is realized by combining backstepping method, which has the merits of simplified and flexible design procedure, with sliding mode control, which has robustness against system uncertainty and external disturbance. Moreover, the closed-loop wheel dynamic system is L2-gain stable by Lyapunov-based method, and the simulation results show that the proposed controller has better performance.

Robust Backstepping Sliding Mode Control with L2-Gain Performance for Reference Input Wheel Slip Tracking of Vehicle