DocumentCode
848270
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
Volume
11
Issue
6
fYear
2003
Firstpage
799
Lastpage
811
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;
fLanguage
English
Journal_Title
Control Systems Technology, IEEE Transactions on
Publisher
ieee
ISSN
1063-6536
Type
jour
DOI
10.1109/TCST.2003.815607
Filename
1255656
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