A Discrete-Time Robust Vehicle Traction Controller Design

A discrete-time robust vehicle traction control algorithm, which includes anti-skid braking and anti-spin acceleration, is proposed. It is a nonlinear feedback scheme and can be designed via classical digital control theory. From a practical viewpoint, it is easy to tune and to modify to incorporate higher order dynamics, which may be unique in particular hardware setup. The robust controller in this paper provides stable and reliable performance under a vast amount of uncertainties involved in the vehicle/brake system, which are either difficult to measure or costly to obtain. The effectiveness of this new scheme is demonstrated by experiments on anti-skid braking.