Vehicular Slip Ratio Control Using Nonlinear Control Theory

Yuichi IKEDA, Takashi NAKAJIMA, Yuichi CHIDA
2012 Journal of System Design and Dynamics  
In this paper, 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 based on the slip ratio dynamics. 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
more » ... 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.
doi:10.1299/jsdd.6.145 fatcat:db7skng4grcopkxf32a5raomxq