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.


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    Title :

    Discrete-time controller design for robust vehicle traction


    Additional title:

    Entwurf einer zeitdiskreten Regelung für eine sichere Fahrzeugführung


    Contributors:
    Tan, H.S. (author) / Tomizuka, M. (author)

    Published in:

    Publication date :

    1990


    Size :

    7 Seiten, 13 Quellen



    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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