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Robust Backstepping Sliding Mode Control with L2-Gain Performance for Reference Input Wheel Slip Tracking of Vehicle

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Figure

Figure 1The single-corner model
Table 1Parameters of Burckhardt model for different road surfaces
Figure 3(a) and Figure 4(a), both RBSMC and SMC exit when the vehicle speed is less than 4m/s (equiv-alently 14.4km/h), and the mechanism can avoid
Figure 2 The simulation results of straight line braking manoeuvre
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