Velocity Control of Bimodal-tram using Sliding Mode Control with Anti-Windup Scheme

In this paper, we propose the velocity controller of bimodal tram. The Korea Rail road Research Institute (KRRI) is developing the bimodal train. 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 with anti-windup scheme. The simulation results are shown to illustrate the performance of the proposed velocity control algorithm.