Abstract
This paper proposes an effective way to improve readhesion control of traction drives. To do this, multirate sampling observers are introduced to all axles in order to estimate precise speed and load torque at every sampling instant. The slip-slide is detected by using the amount of the load torque correction estimated from the multirate sampling observer, which is insensitive to the effect of slope. The performance of the proposed control scheme is verified by comparing with the conventional method.
