We have already proposed anti-slip re-adhesion control based on a disturbance observer and sensor-less vector control. When the control system detects the slip phenomenon, the system generates a torque command to decrease the slip velocity. Hence, this system requires some tuning control parameters based on running test. This paper proposes a new method of the generating torque command for anti-slip re-adhesion control based on slip acceleration. The fine performance of the anti-slip re-adhesion control using the proposed method is confirmed by numerical simulation.