Real-Time Capable Nonlinear Model Predictive Wheel Slip Control for Combined Driving and Cornering

Conference paper
Part of the Lecture Notes in Mechanical Engineering book series (LNME)


This paper presents a traction controller for combined driving and cornering conditions, based on explicit nonlinear model predictive control. The prediction model includes a nonlinear tire force model using a simplified version of the Pacejka Magic Formula, incorporating the effect of combined longitudinal and lateral slips. Simulations of a front-wheel-drive electric vehicle with multiple motors highlight the benefits of the proposed formulation with respect to a controller with a tire model for pure longitudinal slip. Objective performance indicators provide a performance assessment in traction control scenarios.


Model predictive control Traction control Combined slip Cornering response Explicit solution 


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.University of SurreySurreyUK

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