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Adherence control for electric vehicles on varying road conditions

Abstract : The present paper describes a torque saturation control technique applied on vehicular control, operating on time-varying tire-road adherence conditions and with noise perturbation. The method is based on an instantaneous estimation of the maximum available friction using the Dugoff tire model [3]. The novelty lies in the modeling of the road conditions, which are regarded as continuous variables. A "dynamic" Pacejka model is built around the classical Pacejka model, giving a more realistic approach of the tire-road interaction. The implemented estimation method has to adapt to all the parameter changes, to produce a reliable maximum friction on which the control will be applied. The complex modeling of the road conditions will be enlarged with a noise perturbation, to test our method's robustness, which represents the objective of the present work. At the same time, the vehicle is considered to be equipped with "in-wheel" electrical motors, which provide a quick transmission of the torque directly at the wheel.
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https://hal.archives-ouvertes.fr/hal-02194639
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Marcel Stefan Geamanu, Hugues Mounier, Silviu-Iulian Niculescu, Arben Cela, Guenael Le Solliec. Adherence control for electric vehicles on varying road conditions. 21st Mediterranean Conference on Control and Automation (MED), Jun 2013, Platanias, Greece. ⟨10.1109/MED.2013.6608904⟩. ⟨hal-02194639⟩

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