ABSTRACT
This paper investigates the application of a mechatronic controller to a novel wheel configuration, called the wheel-pair. Mechatronic integration allows traction and guidance forces to be transmitted through hub-mounted traction motors. Normal operation of the system is considered and shown to be acceptable. A special condition is also considered where the tractive effort is limited. The mechatronic controller is demonstrated to overcome this condition by momentarily reducing the overall tractive effort.
