Longitudinal control of bimodal-tram using sliding mode control

In this paper, we propose the longitudinal controller of bimodal tram. The bimodal tram is developed by Korea Rail road Research Institute (KRRI). The bimodal tram is all wheel steered single articulated vehicle and will be equipped with the automated control systems. The key technology of the systems is longitudinal and lateral vehicle control algorithm. The longitudinal control is concerned with traction control and brake control of the vehicle and the lateral control is concerned with steering control. First, a longitudinal vehicle model is introduced for traction and brake. Then, a velocity tracking controller is designed based on sliding mode control. The simulation results are provided to illustrate the performance of the proposed algorithm.