%0 Conference Paper
%A Bellini, A.
%A Bemporad, Alberto
%A Franchi, Eleonora
%A Manaresi, Nicolò
%A Rovatti, Riccardo
%A Torrini, G.
%B ISATA 29th International Symposium on Automotive Technology and Automation Automotive 
%C Croydon, UK
%D 1996
%F eprints:593
%P 275-282
%T Analog fuzzy implementation of a vehicle traction sliding-mode control
%U http://eprints.imtlucca.it/593/
%X 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.