Discrete-time controller design for robust vehicle traction
- 1 April 1990
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Control Systems Magazine
- Vol. 10 (3) , 107-113
- https://doi.org/10.1109/37.55132
Abstract
A discrete-time control algorithm for robust vehicle traction, which includes antiskid braking and antispin acceleration, is presented. The algorithm is a nonlinear feedback scheme that can be designed via classical digital control theory. The algorithm is easy to tune and modify to incorporate higher-order dynamics, which may be necessary for a practical hardware setup. The robust controller provides stable and reliable performance under a variety of uncertainties involved in the vehicle/brake system that are difficult to measure. The effectiveness of this new scheme is demonstrated by experiments on antiskid braking.Keywords
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