SLIP CONTROLLER DESIGN FOR TRACTION CONTROL SYSTEM

Abstract

Two major roles of the traction control system (TCS) are to guarantee the acceleration performance and directional

stability even in extreme road conditions, under which average drivers may not control the car properly. Commercial

TCSs use experiential methods such as lookup table and gain-scheduling to achieve proper performance under various

road and vehicle conditions. This paper proposes a new slip controller which uses the brake and the throttle actuator

simultaneously. To avoid measurement problems and get a simple structure, the brake controller is designed using

Lyapunov redesign method and the throttle controller is designed using multiple sliding mode control. Through the

hybrid use of brake and throttle controllers, the vehicle is insensitive to the variation of the vehicle mass, brake gain and

road condition and can achieve required acceleration performance. Proposed method is validated with simulations based

on 15 DOF passenger car model.