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4.8
94 reviewswhich real-time road conditions are unavailable. To overcome the nonlinearity and uncertainties,
the slip ratio control problem is converted to a speed tracking control problem. By introducing a
road-condition observer, a model reference adaptive control (MRAC) method is proposed to overcome
modeling errors and system uncertainties. The road condition observer based on the Lyapunov
theory is designed and a sliding mode observer is also constructed to estimate the unknown vehicle
velocity. The asymptotic and robustness property of the adaptive controller is derived by the Popov
hyperstability theory. Simulations under different conditions including different road adhesion
coefficient, system uncertainties and modeling errors are provided to illustrate the effectiveness and
robustness of the proposed method.
