Deadzone compensation and anti-windup design for brake-by-wire systems

Control of BBW actuators is a challenging problem for many reasons, among which the most critical are the dead-zone due to the fluid reservoir and the limits of the electric motor that moves the pump. In this paper, a complete control architecture accounting for this nonlinear behavior is presented, where the main components are a linear controller, a dead-zone compensator and an anti-windup block, designed in a cascade fashion. With such a configuration, the achieved equilibrium point is guaranteed to be globally asymptotically stable and the overall system shows to be robust with respect to variations of the pressure-position curve. Some simulation examples are proposed to show the effectiveness of the proposed strategy.