@unpublished{eprints593,
           title = {Analog fuzzy implementation of a vehicle traction sliding-mode control},
       booktitle = {Proc. ISATA 29th International Symposium on Automotive Technology and Automation},
            year = {1996},
         journal = {Proc. ISATA 29th International Symposium on Automotive Technology and Automation},
          author = {A. Bellini and Alberto Bemporad and Eleonora Franchi and Nicol{\`o} Manaresi and Riccardo Rovatti and G. Torrini},
           pages = {275--282},
             url = {http://eprints.imtlucca.it/593/},
        abstract = {Road adherence is an imprecise function of many parameters strongly affected by road conditions. In this paper, we propose a very robust control with a static nonlinear feedback law which can consider adherence and other model uncertainties, regulating the wheel slip at any desired value with good precision properties. A sliding-mode control has been designed to provide stability and reliability. Once designed, the control surface has been fuzzified and implemented with a programmable analog fuzzy circuit which uses a 0.7 mu m CMOS technology provided by SGS-Thomson Microelectronics. This implementation is carried out with a semi-automatic design flow and features high computational efficiency at it very low cost, especially when compared to a digital one. Moreover, the controller response time is less than 1 mu s. A flexible control of the slip coefficient has been performed. Results show that the desired slip coefficient is reached and kept with good approximation in compliance with theoretical results.}
}