Traction control is an important element in modern vehicles to enhance drive efficiency, safety, and stability. Traction is produced\nby friction between tire and road, which is a nonlinear function of wheel slip. In this paper, a sliding-mode control approach is used\nto design a robust traction controller.The control objective is to operate vehicles such that a desired wheel slip ratio is achieved. A\nnonlinearity observer is employed to estimate tire tractive forces, which are used in the control law. Simulation and experimental\nresults have illustrated the success of the proposed observer-based controller.
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