Nonlinear-Feedback Vehicle Traction Force Control With Load Transfer

This article deals with the nonlinear feedback regulation of the longitudinal traction forces for high-speed vehicles, possibly over a low friction surface. Hybrid models of the longitudinal vehicle dynamics incorporating load transfer effects, a crucial element in advanced driving techniques, are derived. The designed hybrid regulator allows the tracking of a given friction force profile in the presence of known disturbances and unknown model uncertainties. Simulations show good performance of the proposed hybrid regulator under all operating conditions.