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A reference vehicle model is proposed for ESC system, which is used for estimating if the vehicle is in stable conditions. The proposed model is a 2-DOFs nonlinear model that contains the lateral motion and rotational motion around vertical axis. When ESC system works, the lateral acceleration is often above 0.4g and the nonlinearity of vehicle can't be ignored. Therefore the nonlinear relationship...
Considering the nonlinear characteristics, model uncertainties and the time-varying road conditions of ground vehicles, a novel traction controller for ground vehicles is presented using nonlinear robust modified sliding mode control method to solve the problem of skid braking and spin acceleration. The current wheel slip could be controlled at the optimal value using this method, so that it could...
Wheel skidding or spinning is dangerous for driving vehicles, and compared to conventional vehicles, electric vehicles are more easily to slip during driving on slippery road. In this paper, a novel traction control method based on wheel-slip control is proposed to improve the safety and stability of electric vehicles. Considering the high nonlinearity and uncertainties of the traction system, this...
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