  This study presents a nonlinear model predictive control (NMPC) formulation
for preview-based traction control, which uses the information on the expected
tire-road friction coefficient ahead to enhance the wheel slip control
performance, in the context of connected vehicles with V2X features.
Proof-of-concept experiments on an electric vehicle prototype highlight the
real-time capability of the controller, and the wheel slip control performance
improvement brought by the tire-road friction coefficient preview. Finally, an
experimentally validated simulation model is used in sensitivity analyses, to
evaluate the performance benefit of the preview-based controller for different
dynamic characteristics (e.g., time constant and pure time delays) of the
electric powertrains.
