A model-based nonlinear wheel slip controller for ABS (Anti-lock Brake Systems) is designed using LQ-(Linear Quadratic-)optimal control. The controller gain matrices are gain scheduled on the vehicle speed. A parameter dependent Lyapunov function for the nominal LPV (Linear Parameter Varying) closed loop system is found by solving a LMI (Linear Matrix Inequality) problem. This Lyapunov function is used to investigate robustness with respect to uncertainty in the road/tyre friction characteristic. In order to achieve robustness, the approach does not rely on explicit knowledge of the tyre/road friction curve. Static uncertainty is eliminated using integral action, while dynamic uncertainty is handled by a robust design with a sufficient stability margin. Experimental results from a test vehicle with electromechanical brake actuators and brake-by-wire show that high performance and robustness are achieved. Although a detailed comparison with commercially available off-the-shelf ABS has not been conducted, the present results are encouraging, in particular when taking into account the modest time taken to design, tune and commission this model-based approach. The robustness analysis and redesign based on the experimental experience shows that there are possibilities for further improvement of the control algorithms and tuning.


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    Title :

    Wheel slip control using gain-scheduled LQ - LPV/LMI analysis and experimental results


    Additional title:

    Adaptive, linear-quadratische Radschlupfregelung anhand LMI-(Lineare Matrix-Ungleichheit-)Analyse eines parameterabhängigen, linearen, dynamischen Systems und experimentelle Ergebnisse


    Contributors:


    Publication date :

    2003


    Size :

    6 Seiten, 7 Bilder, 27 Quellen


    Type of media :

    Conference paper


    Type of material :

    Storage medium


    Language :

    English




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