Active Braking Control for Two-wheeled Vehiclesvia Switched Second Order Sliding Modes

The design of an effective braking control system for two-wheeled vehicles is a challenging task, because of the complex dynamic behaviour of the vehicle due to the strong coupling between front and rear wheel and to the dependence of the wheel dynamics on the vehicle speed. To address this problem, this paper proposes to employ a novel switched second order sliding mode (S-SOSM) control strategy grounded on the suboptimal SOSM algorithm, which allows to enhance the closed-loop performance and to tune them to the current working condition.