direct yaw moment control systems (dyc) can maintain the vehicle in the driver’s desired path by distributing the asymmetric longitudinal forces and the generation of the control yaw moment (cym). in order to achieve the superior control performance, intelligent usage of lateral forces is also required. the lateral wheel forces have an indirect effect on the cym and based upon their directions,...

The dynamics of a Spring Loaded Inverted Pendulum (SLIP) \template” [1] approximate well the center of mass (COM) of running animals, humans, and of the robot RHex [2]. Running control can therefore be ierarchically structured as a high level SLIP control and the anchoring of SLIP in the complex morphology of the physical system. Analysis of the sagittal plane lossless SLIP model has shown that...

The precise position control, of multi-motor electric vehicles (EVs) by generating the asymmetric pulse generation is presented. The energy saving algorithm is implemented in the power drain control of EV system to improve the electrical safety and slip control of electric vehicle. The acceleration and Deceleration of the electric vehicle for wheel slip control were analyzed using the parameter...

In the railway industry, slip control has always been essential due to the low friction between the wheels and the rail. In this master’s thesis we have gathered several slip control methods and evaluated them. These evaluations were performed in Matlab-Simulink on a slip process model of a railway vehicle. The objective with these evaluations were to show advantages and disadvantages with the ...

A robust wheel slip controller for electric vehicles is introduced. The proposed wheel slip controller exploits the dynamics of electric traction drives and conventional hydraulic brakes for achieving maximum energy efficiency and driving safety. Due to the control of single wheel traction motors in combination with a hydraulic braking system, it can be shown, that energy recuperation and vehic...

In this paper, we discuss integrated vehicle slip ratio 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. 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 func...

Robust walking under various ground condition is required for application of biped robots. Some researches deal with the biped robot control considering foot slip as [1] and [2]. However, few research deal with recovery control after slip. Our work presents balance recovery trajectory design and disturbance-observer (DOB) based control [3]. Balance recovery trajectory is designed through slip r...

In this paper, a new model predictive PID controller design method for the slip suppression control of EVs (electric vehicles) is proposed. The proposed method aims to improve the maneuverability and the stability of EVs by controlling the wheel slip ratio. The optimal control gains of PID framework are derived by the model predictive control (MPC) algorithm. There also include numerical simula...