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Sliding mode control of longitudinal motions for underground mining electric vehicles with parametric uncertainties

Published Online:pp 68-78

Nowadays, zero-emission electric vehicles become more and more attractive personnel transport vehicles for mining industry. Owing to the special working environment and complex road conditions, a robust controller needs to be designed to achieve a stable and reliable vehicle system for underground mining electric vehicles (UMEVs). This paper first presents the UMEV model with system uncertainties. Then, a new controller based on the sliding mode control (SMC) is designed for UMEVs to track the longitudinal velocity while maintaining longitudinal slip ratio in a desired linear region in the presence of the bounded system uncertainties. The comparison of the simulation results for both the proposed SMC controller and a traditional SMC controller shows that the proposed SMC controller has a better performance for the long-distance up/down slopes with varying rolling resistance coefficients.


bounded system uncertainties, bicycle modelling, electric vehicles, sliding mode control, SMC, underground mining, longitudinal motion, parametric uncertainty, mining industry, robust control, controller design, longitudinal velocity, longitudinal slip ratio, simulation, rolling resistance