Slip Constrained Torque Controller Using Incremental Backstepping with Integral Barrier Lyapunov Function*

This paper develops a speed controller for a rear-drive electric vehicle. A Barrier Incremental Backstepping strategy is proposed for tracking the desired speed, aiming to increase the robustness of the controller and avoid loss of traction due to excessive longitudinal slip. The solution is evaluated in simulation for different scenarios, showing satisfactory results in constraining the tire slip.