Nonlinear adaptive controller applied to an Antilock Braking System with parameters variations

被引：0
作者：
Cuauhtémoc Acosta Lúa
Stefano Di Gennaro
María Eugenia Sánchez Morales
机构：
[1] Universidad de Guadalajara,Departamento de Ciencias Tecnológicas
[2] Centro Universitario de la Ciénega,Department of Information Engineering, Computer Science and Mathematics, and with the Center of Excellence DEWS
[3] University of L’Aquila,undefined
来源：
International Journal of Control, Automation and Systems | 2017年 / 15卷
关键词：
Adaptive control; antilock braking system; nonlinear control; real-time simulation;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
The control of an Antilock Braking System is a difficult problem, due to its nonlinear dynamics and to the uncertainties in its characteristics and parameters. To overcome these issues, in this work an adaptive controller is proposed. The controller is designed under the assumption that the friction coefficient is unknown, and further perturbing frictions act on the system. Finally, the convergence to an ε-ball of the origin is proved when these perturbing parameters vary. The performance of the nonlinear dynamic controllers is evaluated by some experimental tests on a mechatronic system representing a quarter-car model. The results show how the controller ensures the tracking of the desired reference and identifies the unknown parameters.
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页码：2043 / 2052
页数：9
相关论文
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