Title :
Gain-scheduled wheel slip control in automotive brake systems
Author :
Johansen, Tor A. ; Petersen, Idar ; Kalkkuhl, Jens ; Lüdemann, Jens
Author_Institution :
Electron. & Cybern., SINTEF, Trondheim, Norway
Abstract :
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.
Keywords :
actuators; automotive engineering; brakes; robust control; stability; LQR approach; Lyapunov theory; automotive brake systems; brake-by-wire system; electromechanical brake actuators; frequency analysis; gain matrices; gain-scheduled wheel slip control; robustness; stability; time-varying parameter; vehicle speed; Actuators; Automotive engineering; Control systems; Frequency; Robust control; Robust stability; Stability analysis; System testing; Vehicles; Wheels;
Journal_Title :
Control Systems Technology, IEEE Transactions on
DOI :
10.1109/TCST.2003.815607
