This article proposes a novel robust adaptive wheel slip rate tracking control method with state observer. First, a modified tracking differentiator is proposed based on a combination of tangent sigmoid function with terminal attraction factor and linear function to improve convergence speed and avoid chattering phenomenon, and then, the modified tracking differentiator is used as state observer to smooth and estimate the states of the system. Second, a robust adaptive wheel slip rate tracking control law with fuzzy uncertainty observer and modified adaptive laws is derived based on Lyapunov-based method. The fuzzy uncertainty observer is used for estimating and compensating the additive uncertainty, and the modified adaptive laws are used for estimating the unknown optimal weight vector of the fuzzy uncertainty observer and the multiplicative uncertainty. Finally, the performance of the robust adaptive wheel slip rate tracking control method is verified based on the model-in-the-loop simulation system.

中文翻译：

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带状态观测器的车辆车轮滑移率连续跟踪鲁棒自适应控制

本文提出了一种具有状态观测器的新型鲁棒自适应车轮滑移率跟踪控制方法。首先，提出了一种基于正切sigmoid函数与终端吸引因子和线性函数相结合的改进跟踪微分器，以提高收敛速度并避免抖动现象，然后将改进后的跟踪微分器用作状态观察器来平滑和估计状态系统的。其次，基于李雅普诺夫方法推导出具有模糊不确定性观测器和修正自适应律的鲁棒自适应车轮滑移率跟踪控制律。模糊不确定性观测器用于估计和补偿可加性不确定性，改进的自适应律用于估计模糊不确定性观测器和乘性不确定性的未知最优权向量。最后，基于模型在环仿真系统验证了鲁棒自适应车轮滑移率跟踪控制方法的性能。