Enhanced Switched Second Order SM Control forActive Braking in Two-wheeled Vehicles

In two-wheeled vehicles, the presence of a single axis, the high sensitivity to load variations and the strong coupling between front and rear wheel dynamics make the problem of designing effective active braking controllers a much more challenging task than it is for cars. To address this issue, this paper proposes to employ an enhanced switched second order sliding mode controller, based on the idea of adapting the controller parameters to the current region of the state space in which the system is operating. In contrast to previous proposals, in this work the adaptation requires the knowledge of the sliding variable only. Simulation results are presented to confirm the effectiveness of the proposed approach.