Robust adaptive control for continuous wheel slip rate tracking of vehicle with state observer

Abstract

This article proposes a novel robust adaptive wheel slip rate tracking control method with state observer. First, a modified tracking differentiator is proposed based on a combination of tangent sigmoid function with terminal attraction factor and linear function to improve convergence speed and avoid chattering phenomenon, and then, the modified tracking differentiator is used as state observer to smooth and estimate the states of the system. Second, a robust adaptive wheel slip rate tracking control law with fuzzy uncertainty observer and modified adaptive laws is derived based on Lyapunov-based method. The fuzzy uncertainty observer is used for estimating and compensating the additive uncertainty, and the modified adaptive laws are used for estimating the unknown optimal weight vector of the fuzzy uncertainty observer and the multiplicative uncertainty. Finally, the performance of the robust adaptive wheel slip rate tracking control method is verified based on the model-in-the-loop simulation system.