  The control of wheel slip dynamics is one of the most critical areas of
chassis control, since it is the basis for most critical of the main chassis
control subsystems like braking control (ABS), traction control (TCS), and
stability control (VSC-ESC). In this paper,a nonlinear adaptive controller is
analytically designed for longitudinal wheel slip by using of the new method,
based on Lyapunov theory mixed with weighted Fuzzy model. The effectiveness of
the method is demonstrated by the experimental results and real-time model
simulations with different longitudinal speeds and different kinds of road
surface conditions.
