Traction Control Development for Heavy-Duty Off-Road Vehicles Using Sliding Mode Control


  • Addison Alexander Maha Fluid Power Research Center, Lafayette, IN 47905, USA
  • Andrea Vacca Maha Fluid Power Research Center, Lafayette, IN 47905, USA



traction control, construction vehicles, sliding mode control


Construction equipment represents a unique field for operator assistance systems. These machines operate in applications where safety and productivity are paramount. One mechanism of interest recently is traction control. In order to push the limits of the traction control capability, a nonlinear controller is created. To do this, a nonlinear model of a representative construction machine is developed. Based on this model, a sliding mode-type controller is generated. The controller is then run in simulation and implemented on a prototype machine. The sliding mode design shows an improvement in both wheel slip and machine pushing force over previous work.


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Author Biographies

Addison Alexander, Maha Fluid Power Research Center, Lafayette, IN 47905, USA

Addison Alexander received a B.S. in Mechanical Engineering from the University of Kentucky in 2013 and an M.S. and Ph.D. in Mechanical Engineering from Purdue University in 2016 and 2018, respectively. His Ph.D. work was done at the Maha Fluid Power Research Center at Purdue University, focusing on advanced control of mobile hydraulic machinery.

Andrea Vacca, Maha Fluid Power Research Center, Lafayette, IN 47905, USA

Andrea Vacca is a Professor of Fluid Power System and he currently leads the Maha Fluid Power Research Center of Purdue University, USA. Goals of his research are the improvement of energy efficiency and controllability of fluid power machines and the reduction of noise emissions of fluid power components.


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Original Article