On Tuning Methods for Classical Control of Longitudinal Wheel Slip Dynamics

AbstractThis paper presents a comparison of continuous longitudinal wheel slip control formulations based on classical control. The study investigates the influence of relevant parameters such as longitudinal vehicle velocity and vertical tire load on the wheel dynamics. A proportional-integral wheel slip controller is designed and three tuning methods are applied: i) a model-free tuning technique, i.e., frequency-based loop shaping of the open-loop transfer function; ii) a model-based tuning technique, i.e., tuning rules based on closed-loop performance criteria like damping and bandwidth incorporating the change of wheel dynamics with the relevant parameters; and iii) an optimization-based tuning technique, i.e., tuning based on the minimization of a cost function defined by objective performance indicators. The controllers are numerically verified in multiple anti-lock braking system scenarios with varying tire-road friction conditions using an experimentally validated high-fidelity simulation model.KeywordsWheel slip controlWheel dynamicsAdaptive controlTuning rules