The designs of commercial Anti-Lock Braking Systems often rely on assumptions of a torsionally rigid tire-wheel system. However, variations in tire/wheel technologies have resulted in lower torsional stiffnesses that cannot be captured well using these rigid wheel assumptions. This paper presents an adaptive nonlinear controller based on a model that incorporates sidewall flexibility, and transient & hysteretic tread-ground friction effects. The sidewall stiffness and damping and as well as tread parameters are assumed to be unknown and subsequently estimated through a set of gradient-based adaptation laws. A virtual damper is introduced via a backstepping controller design to address difficulties associated with tires with low torsional damping.
- Dynamic Systems and Control Division
Adaptive Traction Control for Non-Rigid Tire-Wheel Systems
- Views Icon Views
- Share Icon Share
- Search Site
Adcox, J, & Ayalew, B. "Adaptive Traction Control for Non-Rigid Tire-Wheel Systems." Proceedings of the ASME 2013 Dynamic Systems and Control Conference. Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control. Palo Alto, California, USA. October 21–23, 2013. V003T46A004. ASME. https://doi.org/10.1115/DSCC2013-3929
Download citation file: