The driving force of automobiles is transmitted by the frictional force between the tires and the road surface. This frictional force is a function of the weight of the car-body and the friction coefficient
μ between the tires and the road surface. The friction coefficient
μ is also a function of the following parameters: the slip ratio
λ determined by the car-body speed and the wheel speed, and the condition of the road surface.
Slippage of automobiles which causes much damage often occurs during accelerating and braking. In this paper, we propose a new drive control system which has an effect on acceleration and braking. In the drive control system, a non-linear controller designed by using a Lyapunov function is used. This non-linear controller has two functions: first one is
μ control which moves the car-body, another one is
λ control. The controller is designed in order that
μ and
λ work at noslip and with slip respectively. As another controller, a disturbance observer is used for estimating the car-body speed which is difficult to be measured. Then, this lead to the proof of the stability condition of the combined system which consists of two controllers: the non-linear controller and the disturbance observer.
Finally, the effectiveness of this control system is proved by a very satisfactory simulation and experimental results for two cases.
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