Design of a network-based traction control system considering temporal behaviors

In this paper, a design procedure for networked control systems (NCSs) was proposed. The design procedure was verified through a design of a network-based traction control system (TCS). The network-based TCS was designed considering temporal behaviors, such as the network-induced delay and the computation delay of the controller. The delays may degrade the control performance and may cause system instability. A new performance index (PI) derived from the difference between the performance of a simulated system and the performance of an implemented system with time delays. By using the proposed PI, optimized periods and priorities of tasks and messages of the network-based TCS were determined. In order to verify the performance of the TCS, the designed control system was realized and tested by using a rapid control prototyping (RCP) platform and a hardware-in-the-loop simulation (HILS) environment. The test results showed that the implemented TCS controller can effectively maintain the slip ratio of the driving wheels at an optimum value.