A robust control algorithm for an anti-lock brake system is proposed. The method used is based on static state feedback of longitudinal slip and does not involve controller scheduling with changing vehicle speed or road adhesion coefficient estimation. An improvement involving scheduling of longitudinal slip reference with longitudinal acceleration measurement is included. Electromechanical braking actuators are used in simulations, and the algorithm used is shown to have high performance on roads with constant and varying adhesion coefficients, displaying nice robustness properties against large vehicle speed and road adhesion coefficient variations. Guidelines are provided for tuning controller gains to cope with unknown actuator delay and measurement noise.
Robust control of anti-lock brake system
Robuste Regelung eines Antiblockiersystems
Vehicle System Dynamics ; 45 , 3 ; 217-232
2007
16 Seiten, 13 Quellen
Article (Journal)
English
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