Abstract: Wheelslip is controlled in an automotive vehicle having at least one wheel for which control is desired. Each wheel is controlled by a corresponding element of a command wheelslip vector. A first wheelslip vector is determined, one element of the first wheelslip vector for each wheel, the first wheelslip vector being operative to optimally minimize the time rate of change of weighted kinetic energy. A second wheelslip vector is determined, one element of the second wheelslip vector for each wheel, the second wheelslip vector being operative to maximize the time rate of change of weighted kinetic energy. The elements of the wheelslip vectors are determined in view of a stability effect determined for each of the at least one wheel.

Abstract: Wheelslip is controlled in an automotive vehicle having at least one wheel for which control is desired. Each wheel is controlled by a corresponding element of a command wheelslip vector. The method includes determining a minimizing wheelslip vector minimizing the time rate of change of weighted vehicle kinetic energy and a resulting minimum time rate of change of weighted vehicle kinetic energy. A maximizing wheelslip vector maximizing the time rate of change of weighted vehicle kinetic energy and a resulting maximum time rate of change of weighted vehicle kinetic energy are also found. The command wheelslip vector is determined from an interpolation of the minimizing wheelslip vector and the maximizing wheelslip vector. The interpolation is based on a desired time rate of change of weighted vehicle kinetic energy.