The development of modern engines with increasing power, fast dynamics, and responsiveness, as well as changes in system architecture, set new requirements on traction control system design for vehicles. We propose a robust nonlinear control design based on input–output linearization to solve the traction control problem. The oscillatory behavior of the powertrain is taken into account explicitly during the controller design phase. Previous work has not addressed this case and no results on stability are available so far. We proove global asymptotic stability of the nonlinear zero dynamics analytically using a parametric Lyapunov function. The traction controller is implemented on different test vehicles and validated for different driving maneuvers and road conditions. Experimental results obtained with test vehicles and by simulation demonstrate stability, high performance, and robustness of the proposed approach.

中文翻译：

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牵引力控制系统中非线性滑移零动力学的稳定性

随着功率，快速动力和响应能力的提高以及系统架构的变化，现代发动机的发展对车辆的牵引力控制系统设计提出了新的要求。我们提出了一种基于输入输出线性化的鲁棒非线性控制设计，以解决牵引力控制问题。在控制器设计阶段明确考虑了动力总成的振荡特性。以前的工作尚未解决这种情况，到目前为止，尚无关于稳定性的结果。我们使用参数Lyapunov函数分析性地证明了非线性零动力学的全局渐近稳定性。牵引力控制器安装在不同的测试车辆上，并针对不同的驾驶操作和路况进行了验证。