A discrete-time control algorithm for robust vehicle traction, which includes antiskid braking and antispin acceleration, is presented. The algorithm is a nonlinear feedback scheme that can be designed via classical digital control theory. The algorithm is easy to tune and modify to incorporate higher-order dynamics, which may be necessary for a practical hardware setup. The robust controller provides stable and reliable performance under a variety of uncertainties involved in the vehicle/brake system that are difficult to measure. The effectiveness of this new scheme is demonstrated by experiments on antiskid braking.
Discrete-time controller design for robust vehicle traction
Entwurf einer zeitdiskreten Regelung für eine sichere Fahrzeugführung
Control Systems Magazine (IEEE) ; 10 , 3 ; 107-113
1990
7 Seiten, 13 Quellen
Aufsatz (Zeitschrift)
Englisch
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