Vehicle traction control based on optimal slip using sliding mode controller

Considering the nonlinear characteristics, model uncertainties and the time-varying road conditions of ground vehicles, a novel traction controller for ground vehicles is presented using nonlinear robust modified sliding mode control method to solve the problem of skid braking and spin acceleration. The current wheel slip could be controlled at the optimal value using this method, so that it could improve the safety and stability of ground vehicles in slippery road conditions. Due to the optimal value of the wheel slip depends on road conditions, the so-called Burckhardt´s tire model is adopted to make online calculation. In order to validate the effectiveness of the proposed method, simulations in different road conditions are carried out, and a series of simulation results indicate that the wheel slip tracking controller could obtained fairly good performance.