文章基本信息

标题：Two Degrees of Freedom Slip Controller with Lateral Torque Distribution *
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作者：Wolfgang Degel ; Stefan Lupberger ; Dirk Odenthal 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：14450-14455
DOI：10.1016/j.ifacol.2020.12.1445
语种：English
出版社：Elsevier
摘要：AbstractCurrent slip control systems focus on vehicles with single-axle drive or all-wheel drive. This work presents a new two degrees of freedom slip controller affecting the average wheel speed and the wheel speed difference between the left and right wheel of a driven axle. The approach is applicable for electronically controlled limited-slip differentials and individually controllable brake actuators. The control design is performed with input-output linearization and global stability in the sense of Lyapunov is proven for the zero dynamics. The proposed control system is evaluated in a prototype vehicle and fulfills the task of traction control.
关键词：KeywordsAutomotive controlslip controlinput-ouptut linearizationstability of nonlinear systemslimited-slip differentialbrake control