Driving force control for a vehicle considering slip ratio limitation

In this paper, we propose a design method of a feedback controller for achieving a desired driving force under the slip ratio constraint. The controller consists of a slip ratio controller and a driving force controller with an anti‐windup structure. We derive the design condition of the controller that ensures closed‐loop stability. The design condition is expressed as linear matrix inequalities. The effectiveness of the proposed method is evaluated by a numerical example. © 2018 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.