Second order sliding modes control for rope winch based automotive driver robot

Abstract

In this contribution a second order sliding modes control algorithm for position tracking of an in-vehicle driver robot is introduced. For this purpose a recently developed rope winch based automotive driver robot is considered. Here, the distance between a brake, clutch or accelerator pedal and the ground of the driver’s cab should follow a given reference value. Nonlinear simulations and experimental results show the efficiency and the robustness properties of the proposed second order sliding modes control design approach.