Adaptive torque tracking control during slip engagement of a dry clutch in vehicle powertrain

•An adaptive torque tracking control method during slip engagement of a dry clutch in a vehicle powertrain is developed.•The proposed method is applied to the slip engagement control of an engine clutch in a parallel hybrid vehicle.•The proposed method is verified with production vehicle experiments.•Feedforward control based on a clutch friction model is performed for the slip engagement control.•The forward path torque estimator of an engine clutch in the driveline is utilized to adapt the clutch friction model.