Robust estimation and control of tire traction forces

This paper proposes a tire traction force control scheme which effectively deals with the highly nonlinear and uncertain tire-road interaction, and variations in road conditions. Moreover, the proposed control scheme is based on robust estimations of traction forces; therefore, unlike the slip-ratio-based methods, achievement of desired traction forces is guaranteed by the proposed control scheme. Then simulations are conducted for verification. The results show that the performance of traction force estimation and control is satisfactory, even under the conditions of suddenly changed tire-road friction-coefficients and mismatched tire models for controller design and simulations.