A slip control system is designed for the QBEAK electric vehicle developed by ECOmove ApS. The controller is based on a dynamic model describing the planar motion of the vehicle. An integral sliding mode control structure is chosen to ensure robustness to changes in vehicle parameters, drag and rolling resistance and road surface conditions. Through simulations it is shown that the control system effectively reduces vehicle braking distance, increases traction and improves maneuverability. The system is furthermore tested experimentally. Oscillatory slip responses are observed in the tests due to a 240 [ms] delay in the data communication of the test setup.
It is concluded that the communication delay must be reduced to ensure satisfactory closed-loop dynamics. The simulation results however conclude that the slip control system can improve acceleration and braking performance of the QBEAK vehicle.