Robust wheel torque control for traction/braking force tracking under combined longitudinal and lateral motion

Te-Sheng Hsiao*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

13 Scopus citations

Abstract

Slip-ratio-based methods are commonly used to control the wheel torque such that the wheel dynamics is stabilized and the desired traction/braking force is attained; however, slip-ratio-based controllers are incompetent for precise longitudinal tire force tracking due to nonparametric tire model uncertainties. Force tracking performance further deteriorates whenever the tire is under combined longitudinal and lateral motion. In this paper, we propose an observer-based tire force control scheme that guarantees to achieve the desired longitudinal tire force accurately and robustly with respect to tire model uncertainties, changes in road conditions, and simultaneous lateral motion. Convergence of the force estimation and tracking errors is rigorously proved by the Lyapunov method. Then, simulations are conducted to verify the robust and accurate performance in longitudinal tire force estimation and tracking under a series of severe driving conditions.

Original languageEnglish
Article number6945348
Pages (from-to)1335-1347
Number of pages13
JournalIEEE Transactions on Intelligent Transportation Systems
Volume16
Issue number3
DOIs
StatePublished - 1 Jun 2015

Keywords

  • Active safety system
  • longitudinal tire force control
  • longitudinal tire force estimation
  • slip ratio control
  • vehicle control system
  • wheel torque control

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