Gain-scheduled wheel slip control in automotive brake systems

被引：180

作者：

Johansen, TA ^{[1
]}

Petersen, I

Kalkkuhl, J

Lüdemann, J

机构：

[1] SINTEF Elect & Cybernet, N-7465 Trondheim, Norway

[2] Norwegian Univ Sci & Technol, Dept Engn Cybernet, N-7491 Trondheim, Norway

[3] DaimlerChrysler, Res & Technol, D-10559 Berlin, Germany

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2003年 / 11卷 / 06期

关键词：

antilock braking; automotive control; gain scheduling; nonlinear control; optimal control;

D O I：

10.1109/TCST.2003.815607

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：799 / 811

页数：13

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