Traction Control and Modeling of Tracked Vehicles

This paper presents a comprehensive model to represent the complex interaction between tracks of a tracked vehicle and the ground. Based on this model, a simulation was developed to solve both the forward and inverse kinematics. For straight line motion, which is a special case of the comprehensive model, a novel traction control technique for tracked vehicle is introduced. This control law is based on sliding mode control. Traction control should enhance tracked vehicle performance and maximize vehicle traction by preventing the vehicle from becoming locked up during braking and from spinning during acceleration. Both theoretical analysis and simulations confirm the effectiveness of our approach.