A wheel slip controller for ABS (Anti-Blocking System) brakes is formulated using an explicit constrained LQR (Linear Quadratic Regulator) design. The controller gain matrices are designed and scheduled on the vehicle speed based on local linearizations. A Lyapunov function for the nonlinear control system is derived using the Riccati equation solution in order to prove stability and robustness with respect to uncertainty in the road/tyre friction characteristic. Experimental results from a test vehicle Mercedes E220 with electromechanical brake actuators and brake-by-wire show that high performance and robustness are achieved. The system consists of four independent servo controllers, one for each brake, and central electronic control unit where the wheel slip controllers run. Using Lyapunov analysis and experimental verification it was shown good performance and robustness of a model-based nonlinear wheel slip controller for ABS. In order to achieve the robustness, the approach does not rely on knowledge of the tyre/road friction curve. Static uncertainty is eliminated using integral action, while dynamic uncertainty is handled by a robust design with sufficient stability margin.
Wheel slip control in ABS breaks using gain scheduled constrained LQR
Radschlupfregelung in Antiblockiersystemen mit einem adaptiven, linearquadratischen Regler unter Berücksichtigung von Begrenzungen
ECC, European Control Conference, 2001 ; 606-611
2001
6 Seiten, 5 Bilder, 12 Quellen
Aufsatz (Konferenz)
Datenträger
Englisch
Tailored Dynamic Gain-Scheduled Control
AIAA | 2006
|Tailored Dynamic Gain-Scheduled Control
Online Contents | 2006
|