Design and experimental validation of a nonlinear wheel slip control algorithm

We present a new wheel slip controller and validate it both experimentally and in simulation. The control strategy is based on both wheel slip and wheel acceleration regulation, and ensures global asymptotic stability in closed loop. The stability analysis is established using tools for cascaded sys...

Full description

Saved in:
Bibliographic Details
Published in:Automatica (Oxford) 2012-08, Vol.48 (8), p.1852-1859
Main Authors: Pasillas-Lépine, William, Loría, Antonio, Gerard, Mathieu
Format: Article
Language:English
Subjects:
Acceleration
Adaptative systems
Anti-lock braking systems
Applied sciences
Asymptotic properties
Automatic
Automation
Cascaded design
Computer science
control theory
systems
Computer simulation
Control system analysis
Control system synthesis
Control theory. Systems
Drives
Engineering Sciences
Exact sciences and technology
Lyapunov design
Mechanical engineering. Machine design
Nonlinearity
Shafts, couplings, clutches, brakes
Slip
Stability analysis
Wheel slip control
Wheels
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:We present a new wheel slip controller and validate it both experimentally and in simulation. The control strategy is based on both wheel slip and wheel acceleration regulation, and ensures global asymptotic stability in closed loop. The stability analysis is established using tools for cascaded systems. This approach has the advantage of setting conditions on the control gains that are considerably milder, if compared with those obtained from Lyapunov’s direct method. Simulations are provided to illustrate the robustness against vertical load variations and uncertainties in tyre–road friction. Furthermore, tests on a tyre-in-the-loop facility show that with our control law the wheel slip converges precisely to the assigned reference.
ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2012.05.073