非線形制御理論を用いた車両速度とスリップ率の追従制御

抄録

In this paper, we discuss integrated vehicle velocity and slip ratio tracking control under both deceleration and acceleration without the need for controller switching, and also propose a design method for such an integrated slip ratio controller based on the slip ratio dynamics. When a vehicle switches from acceleration to deceleration and vice versa, the slip ratio varies discontinuously. Here, the slip ratio is approximated to a continuous function by using a sigmoid function. And a controller is then designed by using feedback linearization, a disturbance observer, and sliding mode control theory based on the approximated slip ratio. The stability of the designed control system is proven by Lyapunov stability theorem. Finally, the effectiveness of the proposed control method is verified through numerical simulation.