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.


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    Title :

    Wheel-Slip Regulation Based on Sliding Mode Approach


    Additional title:

    Sae Technical Papers


    Contributors:
    EL Hadri, A. (author) / Cadiou, J.C. (author) / M'Sirdi, K.N. (author) / Delanne, Y. (author)

    Conference:

    SAE 2001 World Congress ; 2001



    Publication date :

    2001-03-05




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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