Browse Publications Technical Papers 2001-01-0602
2001-03-05

Wheel-Slip Regulation Based on Sliding Mode Approach 2001-01-0602

This paper presents a nonlinear observer and controller based on passivity and sliding mode approach for vehicle traction control. The main contribution is the on-line estimation of the tire force which is needed for control. The concept of relaxation length describes the wheel-slip variation as a first order model. From this concept a differential equation of tire force is proposed to design a controller based on nonlinear observer. Only longitudinal dynamics are considered in this study. Stability analysis in closed-loop is proved by Lyapunov's method. Sufficient conditions for applying sliding mode based control are derived. The proposed control is verified through one-wheel simulation using “Magic formula” tire model. The robustness of control is tested by including errors in the parameters and by changing value of tire adhesion. A comparison of the proposed approach of control with PD control is given.

SAE MOBILUS

Subscribers can view annotate, and download all of SAE's content. Learn More »

Access SAE MOBILUS »

Members save up to 18% off list price.
Login to see discount.
Special Offer: Download multiple Technical Papers each year? TechSelect is a cost-effective subscription option to select and download 12-100 full-text Technical Papers per year. Find more information here.
We also recommend:
TECHNICAL PAPER

Brake-Based Vehicle Traction Control via Generalized Predictive Algorithm

2003-01-0323

View Details

TECHNICAL PAPER

Development of Adaptive Traction Control System

2013-26-0085

View Details

TECHNICAL PAPER

Practical Ruled-Based Vehicle Traction Control

942402

View Details

X