A robust nonlinear control approach for the traction problem in electrical vehicles

This paper addresses the traction control problem for the electrical vehicles (EVs) driven by permanent magnet synchronous motor (PMSM). A robust nonlinear control law at the torque level is proposed firstly to cope with the unknown tyre reaction force. A parameter estimation function will be introduced for the adaptive control of the system with unknown friction forces. Then, a new torque control strategy for PMSM with vector transformation is introduced to achieve the desired torque for the robust traction. It's shown that by using a kind of backstepping design approach, the goal of traction control can be achieved at electrical control level of the PMSM.