期刊
IEEE CONTROL SYSTEMS LETTERS
卷 6, 期 -, 页码 2383-2388出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LCSYS.2022.3158228
关键词
Mathematical models; Predictive models; Actuators; Delays; Wheels; Torque; Force; Automotive control; predictive control for linear systems
This letter proposes a Force-based Model Predictive Control (F-MPC) scheme for braking systems, which shows improved performance in slip tracking and optimization compared to state-of-the-art solutions.
In this letter, a Force-based Model Predictive Control (F-MPC) scheme for braking systems is proposed. The use of longitudinal force information for slip tracking shows two main advantages: 1) the closed-loop system becomes robust to different grip conditions without the need of a friction model, 2) the optimization problem can be formulated as a quadratic program, suitable for real-time implementation. The approach is tested on a full-fledged vehicle simulator coupled with a nonlinear actuator calibrated on a real electro-hydraulic brake. A comparison with state-of-the-art solutions highlights better transient and tracking performance under both nominal and uncertain friction conditions.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据