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In this paper, a grey sliding-mode controller is proposed to regulate the wheel slip, depending on the vehicle forward velocity. The proposed controller anticipates the upcoming values of wheel slip and takes the necessary action to keep the wheel slip at the desired value. The performance of the control algorithm as applied to a quarter vehicle is evaluated through simulations and experimental studies that include sudden changes in road conditions. It is observed that the proposed controller is capable of achieving faster convergence and better noise response than the conventional approaches. It is concluded that the use of grey system theory, which has certain prediction capabilities, can be a viable alternative approach when the conventional control methods cannot meet the desired performance specifications.
Kayacan et al. (Wed,) studied this question.