Slip Constrained Torque Controller Using Incremental Backstepping with Integral Barrier Lyapunov Function

Autor(es)

Falcao, Pedro K. ; Cordeiro, Rafael A. ; de Paiva, Ely C. ; Azinheira, Jose R.

• Tipo de documento: Artigo Científico
• Fonte: IFAC PAPERSONLINE; v. 55, n. 14, p. 6-pg., 2022-08-10.

Resumo

This paper develops a speed controller for a rear-drive electric vehicle. A Barrier Incremental Backstepping strategy is proposed for tracking the desired speed, aiming to increase the robustness of the controller and avoid loss of traction due to excessive longitudinal slip. The solution is evaluated in simulation for different scenarios, showing satisfactory results in constraining the tire slip. Copyright (C) 2022 The Authors. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/) (AU)

• Processo FAPESP: 14/50851-0 - INCT 2014: Instituto Nacional de Ciência e Tecnologia para Sistemas Autônomos Cooperativos Aplicados em Segurança e Meio Ambiente
• Beneficiário: Marco Henrique Terra
• Modalidade de apoio: Auxílio à Pesquisa - Temático