IMT Institutional Repository: No conditions. Results ordered -Date Deposited. 2024-03-28T10:57:31ZEPrintshttp://eprints.imtlucca.it/images/logowhite.pnghttp://eprints.imtlucca.it/2011-07-27T09:20:29Z2014-07-16T13:01:51Zhttp://eprints.imtlucca.it/id/eprint/593This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/5932011-07-27T09:20:29ZAnalog fuzzy implementation of a vehicle traction sliding-mode controlRoad 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.A. BelliniAlberto Bemporadalberto.bemporad@imtlucca.itEleonora FranchiNicolò ManaresiRiccardo RovattiG. Torrini