Abstract: The present invention is a traction control system utilizing a reference model based on a mass-damper system, a trajectory tracking controller, and a maximum tractive force estimator. The reference model generates the desired acceleration, velocity, and position of the vehicle based on user inputs, which are mapped, to force and torque inputs, to the reference model. The commanded trajectory is mapped to the desired wheel trajectories. Each wheel follows its desired trajectory using the trajectory tracking controller. The maximum tractive force estimator determines the minimum of the maximum tractive forces applicable to each wheel based on traversing surface. An associated lower bound on the reference model's mass determines when a wheel must follow a trajectory requiring more than the estimated min-max tractive force, inferring that slip has occurred or may soon occur. Subsequently, the reference model's mass parameter value is reduced to prevent future slip.

Abstract: Different circuit-based implementations of stochastic anti-windup PI controllers are provided for a motor drive controller system. The designs can be implemented in a Field Programmable Gate Arrays (FPGA) device. The anti-windup PI controllers are implemented stochastically so as to enhance the computational capability of FPGA.

Abstract: Different circuit-based implementations of stochastic anti-windup PI controllers are provided for a motor drive controller system. The designs can be implemented in a Field Programmable Gate Arrays (FPGA) device. The anti-windup PI controllers are implemented stochastically so as to enhance the computational capability of FPGA.