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Wheel-Slip Regulation Based on Sliding Mode Approach
Technical Paper
2001-01-0602
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Event:
SAE 2001 World Congress
Language:
English
Abstract
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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Authors
Citation
EL Hadri, A., Cadiou, J., M'Sirdi, K., and Delanne, Y., "Wheel-Slip Regulation Based on Sliding Mode Approach," SAE Technical Paper 2001-01-0602, 2001, https://doi.org/10.4271/2001-01-0602.Also In
SAE 2001 Transactions Journal of Passenger Cars - Mechanical Systems
Number: V110-6; Published: 2002-09-15
Number: V110-6; Published: 2002-09-15
References
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