Multiple sliding surface control: Theory and application

This paper discusses the development of a nonlinear controller design metho dology and its application to an automotive control problem. The method is called the "Multiple Sliding Surface" method and is closely related to slid ing mode control, input/output linearization and integrator backstepping. T he method was developed for a class of systems, typical of automotive contr ol systems, where the uncertainties are "mismatched" and where many of the equations contain sparse, experimentally obtained maps. The error bounds on these maps are often unknown and their sparseness makes them difficult to differentiate. The developed method does not require any derivatives and ha s guaranteed semi-global stability. This paper summarizes the development o f the method and applies it to the design of a highly nonlinear system. The example is a combined brake/throttle controller for precision vehicle foll owing. This controller was implemented on the California PATH vehicles in D EMO'97, an automated highway technology demonstration that occurred in San Diego, California in August of 1997. [S0022-0434(00)03004-5].