Longitudinal slip control using Laguerre approach

In this paper, and continuing the work presented in H. Shraim et al., (2005) concerning the analytical representation of the vehicle, which is validated by the simulator (ve-DYNA), a relation between the wheel slipping and the torque applied at this wheel in both the braking and acceleration cases is derived, and to make the slipping tends to a certain reference. Due to the nonlinearity of the wheel slipping dynamics, especially in the acceleration case, Laguerre approach is presented and used and how this approach makes the slipping value follows its reference value with an appropriate control in the both cases is also shown. The proposed approach is validated by computer simulations.