Wheel slip control using energy shaping
Authors
Johan Koopman, Dimitri Jeltsema, Michel Verhaegen
Abstract
A passivity-based wheel slip controller is presented that is robust against tyre-road friction uncertainties. Using a port-Hamiltonian form of a quarter-car with LuGre tyre model, an energy shaping controller is constructed that stabilizes some desired relative (sliding) velocity. The measured variables are the friction force and the relative velocity. A stability analysis shows that this controller is robust against tyre-road friction uncertainties. A simplified control law is proposed that inherits the robustness characteristics of the original controller. Finally, this simplified controller is tested in a simulation environment, showing that the desired relative velocity is stabilized for different friction parameter values.
Citation
- Journal: 49th IEEE Conference on Decision and Control (CDC)
- Year: 2010
- Volume:
- Issue:
- Pages: 2916–2921
- Publisher: IEEE
- DOI: 10.1109/cdc.2010.5717466
BibTeX
@inproceedings{Koopman_2010,
title={{Wheel slip control using energy shaping}},
DOI={10.1109/cdc.2010.5717466},
booktitle={{49th IEEE Conference on Decision and Control (CDC)}},
publisher={IEEE},
author={Koopman, Johan and Jeltsema, Dimitri and Verhaegen, Michel},
year={2010},
pages={2916--2921}
}
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