Research on Controlling the Side Brush Road Sweeper for Different Road Surfaces using PID-Sliding Mode Controller

The article proposes a solution to design a road sweeper with a semi-automatic side brush system to adapt to different road surface conditions in practice. To increase working productivity and decrease abrasive brush wear, this study suggests a side brush structure and provides a brush control method. The mechanical system uses a parallelogram mechanism to ensure that the direction of the brush is always parallel to the road surface. The proportional-integral-derivative (PID) combined with the Sliding Mode Control (SMC) to evaluate the responsiveness of controllers for a nonlinear system. The parameters of the controllers are optimized by a genetic algorithm (GA) to consider the response of the GA-PIDSMC to control the road sweeper side brush with various references.