Robust fault-tolerant cruise control of electric vehicles based on second-order sliding mode observer

Suneel K. Kommuri, Jagat J. Rath, Kalyana C. Veluvolu, M. Defoort

Research output: Chapter in Book or Report/Conference proceedingConference Proceedingpeer-review

6 Citations (Scopus)


This paper presents fault-tolerant cruise control of an electric vehicle based on the permanent magnet synchronous motor (PMSM). A higher order sliding mode (HOSM) observer is designed to estimate the unknown back electro motive forces (EMFs) in the plant dynamics. A finite-time smooth estimation without low-pass filtering is obtained and the chattering phenomenon is eliminated. With the estimated back EMFs, an accurate speed estimate of PMSM can be algebraically computed. The estimated speed is provided as a feedback whenever fault occurs in the measurement speed. The corresponding torque output drives the electric vehicle (train, car) to maintain the vehicle speed to a desired vehicle speed reference. Simulations in a high fidelity CarSim confirm the validity of the overall approach.

Original languageEnglish
Title of host publicationInternational Conference on Control, Automation and Systems
PublisherIEEE Computer Society
Number of pages6
ISBN (Electronic)9788993215069
Publication statusPublished - 16 Dec 2014
Externally publishedYes
Event2014 14th International Conference on Control, Automation and Systems, ICCAS 2014 - Gyeonggi-do, Korea, Republic of
Duration: 22 Oct 201425 Oct 2014

Publication series

NameInternational Conference on Control, Automation and Systems
ISSN (Print)1598-7833


Conference2014 14th International Conference on Control, Automation and Systems, ICCAS 2014
Country/TerritoryKorea, Republic of


  • Fault-tolerant cruise control
  • higher order sliding mode (HOSM)
  • permanent magnet synchronous motor (PMSM)
  • speed estimation

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