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(Conference)

## Analog Fuzzy implementation of a vehicle traction sliding-mode control

A. Bellini and A. Bemporad and E. Franchi and N. Manaresi and R. Rovatti and G. Torrini

### Abstract:

A three step methodology for the analog implementation of a controller for both antiskid braking and antispin acceleration is proposed. A robust sliding-mode control algorithm is firstly designed to provide stability and reliable performance, taking into account the involved uncertainties. The wheel slip coefficient is regulated to a desired value for both antispin acceleration and antiskid braking of the vehicle. Subsequently the designed control is implemented with an Analog Fuzzy circuit. This is done by means of an automatic design flow which reproduces the control surface with 14 Fuzzy Rules. A fully programmable version of the circuit is fabricated, programmed and measured. Simulations of close-loop control accounting for these measures and for a simplified car dynamic model are carried out producing results consistent with similar security systems. The proposed analog processing makes A/D and D/A converters no longer necessary and features a high computational efficiency, as the required fuzzy inferences are completed in less than 1 $\mu$s while the dedicated silicon area is about 1.7 mm$^2$.