Fuzzy parameter tuning sliding mode control for longitudinal motion of underground mining electric vehicles based on a single wheel model

This paper first presents a simplified single wheel model for underground mining electric vehicles with bounds of system uncertainties. Then, a fuzzy parameter tuning (FPT) technique is used to adjust the parameters in the sliding mode control (SMC) to improve system stability and robustness at an unexpected external disturbances and unbound system uncertainties. The comparison of the simulation results shows that the proposed control strategy has better performance than the SMCs without applying fuzzy tuning technique.