We discuss integrated vehicle slip ratio control under both deceleration and acceleration without the need for controller switching, and also propose a design method for such an integrated slip ratio controller. When a vehicle switches from acceleration to deceleration and vice versa, the slip ratio varies discontinuously. Here, the slip ratio is approximated to a continuous function by using a sigmoid function. And a controller is then designed by using feedback linearization based on the approximated slip ratio. The stability of the designed control system is proven by Lyapunov stability theorem. Furthermore, we propose a robust control method based on a disturbance observer and sliding mode control theory. Finally, the effectiveness of the proposed control method is verified through numerical simulation.


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    Title :

    Vehicular slip ratio control using nonlinear control theory


    Contributors:


    Publication date :

    2011


    Size :

    6 Seiten, 11 Bilder, 7 Quellen




    Type of media :

    Conference paper


    Type of material :

    Storage medium


    Language :

    English






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