Adaptive control approach to uncertain longitudinal tire slip in traction control of vehicles

This paper addresses the longitudinal traction control problem of vehicles. A nonlinear control law at the torque level is shown to cope with the unknown tyre reaction force. From a physical consideration of a vehicle, a decoupling controller design is considered, which enables us to make the controller design straightforward. A parameter estimator is introduced to adaptive control of the system with uncertain frictional coefficient. The proposed controller indicates the better control performance than that of a non-adaptive or a conventional PI controller as evaluated in numerical simulation.