Fuzzy logic slip rate controller for experimental test vehicle

This paper focuses on the implementation on a test vehicle of a tire slip rate controller, based on fuzzy logic method. The slip rate is controlled by regulating the braking pressure on each wheel via an ESP hydraulic unit. The slip rate is estimated via a vehicle velocity observer. Simulation and experimental results show that the tire slip rates are maintained around a target value within an acceptable error margin. The next step consists in integrating driver assistance systems to command this controller.