Model Based Control for Slip Reduction

Abstract

The slip reduction method requiring periodic variations of wheel velocity and acceleration is presented. The dynamical model of actuated wheel is discussed and the model based controller for longitudinal slip reduction is designed. The wheel motion pattern is obtained using the final value theorem. The method takes into account the discrepancy between the reference torque and the real torque needed for slip reduction. The motion template for slip reduction is given and the slip estimation is proposed. Theoretical considerations are followed by simulations and experimental example.