%I Springer-Verlag
%V 2034
%P 162-174
%T A hybrid approach to traction control
%R 10.1007/3-540-45351-2_16
%J Hybrid Systems: Computation and Control
%B Hybrid Systems: Computation and Control
%L eprints519
%D 2001
%E Maria Di Benedetto
%E Alberto Sangiovanni-Vincentelli
%X In this paper we describe a hybrid model and an optimization-based control strategy for solving a traction control prob- lem currently under investigation at Ford Research Laboratories. We show through simulations on a model and a realistic set of parameters that good and robust performance is achieved. Furthermore, the result- ing optimal controller is a piecewise linear function of the measurements that can be implemented on low cost control hardware. 
%A Francesco Borrelli
%A Alberto Bemporad
%A Michael Fodor
%A Davor Hrovat
%S Lecture Notes in Computer Science