Abstract: Wheel slippage of a machine may be controlled using brake control and engine torque control. In some examples, the present disclosure describes a method of controlling a wheel. Example methods may include sensing a rotational speed of the wheel, and sensing an acceleration of the machine. The method may also include estimating a target speed of the wheel based at least in part on the rotational speed of the wheel and the acceleration of the machine. The method may continue with calculating a speed error, the speed error being a difference between the rotational speed and the target speed. The method may also include controlling a brake of the wheel based on the speed error and/or a torque of an engine of the machine based on the speed error.

Abstract: A method and apparatus for monitoring the operation of vehicle brakes on a vehicle equipped with an electronic braking system as is commonly used to provide traction control (TC) and/or an anti-lock braking system (ABS). The speed at which a first wheel located on a first side of a vehicle rotates in relation to the speed at which a second wheel located on a second side of the vehicle rotates during particular braking events is examined. For each wheel, any difference or "error" in the rotation speed during the select braking events relative to the other side wheel is accumulated or integrated over a select duration until a threshold difference value is reached which indicates a malfunction at the subject wheel end. The accumulated difference is periodically adjusted to account for normal or acceptable levels of wheel speed variation.