Journal
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
Volume 11, Issue 6, Pages 799-811Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2003.815607
Keywords
antilock braking; automotive control; gain scheduling; nonlinear control; optimal control
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A wheel slip controller is developed and experimentally tested in a car equipped with electromechanical brake actuators and a brake-by-wire system. A gain scheduling approach is taken, where the vehicle speed is viewed as a slowly time-varying parameter and the model is linearized about the nominal wheel slip. Gain matrices for the different operating conditions are designed using an LQR approach. The stability and robustness of the controller are studied via Lyapunov theory, frequency analysis, and experiments using a test vehicle.
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