Wheel slip control using energy shaping

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.