A longitudinal one-wheel vehicle model is described for both anti-lock braking and anti-span acceleration. Based on this vehicle model, sufficient conditions for applying sliding-mode control to vehicle traction are derived via Lyapunov Stability Theory. With the understanding of these sufficient conditions, control laws are designed to control vehicle traction. Both the sufficient conditions and the control laws are verified using computer simulations.
Issue Section:
Research Papers
Copyright © 1991
by The American Society of Mechanical Engineers
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