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A simple traction controller was derived from a model following control (MFC) using bilinear transformation. The controller was simplified by adjusting some dynamic parameters. The experiments were conducted to evaluate the validity of the controller by comparing with the classical PD controller. In the experiments, while the traction controller can prevent slippage, tracking control performance needed to be improved. The feedforward compensation was added to reduce the traction error. The experimentation using the simple controller with feedforward shows that the position error has been reduced while maintaining the traction force between floor and wheels.

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Traction controls usually need dynamic parameters as an approximated reference in the model, such as inertia and friction or heavily computational estimator, such as slip ratio estimator and friction estimator. This paper is shown that the dynamic parameters in the traction controller can be negligible in some cases, internal sensor state variables and gain parameters are enough to retain some traction controllability. The controller is derived from the model following control method (MFC) on a discrete domain. Experiments are performed, in order to evaluate the efficiency of the simplified controller using a two-wheeled mobile robot, by comparing slippage between the position and velocity control scheme with and without the traction control scheme. The experimental results show that the proposed traction control scheme is able to suppress the slip and very simple to implement.