Wheel slip control for hybrid braking system of electric vehicle

Hybrid braking system for electric vehicle is composed of traditional mechanism braking and newly regenerative braking, and it brings up special control problems. With status of driven wheel as reference, a wheel slip control law is developed for driving wheel. The control law contains the wheel slip programming and its regulation. Further, the wheel slip regulation is decomposed in two parts, i.e., stabilizing control of the uncertain system with a single virtual input and control allocation between the two kinds of braking ways. Additionally, the compatibility between the anti-lock braking control and regenerative braking control is also considered. Finally, simulation tests are carried out to illustrate the performance and practicability.