Title :
A simple traction control for tracked vehicles
Author :
Fan, Zhejun ; Koren, Yoram ; Wehe, David
Author_Institution :
Dept. of Mech. Eng. & Appl. Mech., Michigan Univ., Ann Arbor, MI, USA
Abstract :
This paper introduces a simple traction control for a tracked vehicle (STCTV). This STCTV uses a zero-order sliding surface with time varying boundary layer thickness. This approach is proven to guarantee that the slip ratio converges to any predefined value asymptotically via Lyapunov stability theory. Simulation results confirm that STCTV allows the tracked vehicle to maintain maximum tractive force available in a frozen snow
Keywords :
Lyapunov methods; asymptotic stability; time-varying systems; transport control; variable structure systems; vehicles; Lyapunov stability theory; asymptotic convergence; frozen snow; maximum tractive force; simple traction control; slip ratio; time-varying boundary layer thickness; tracked vehicles; zero-order sliding surface; Engines; Feedback control; Force control; Force measurement; Friction; Land vehicles; Road vehicles; Snow; Soil; Torque control;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.520934
