Wheel slip control in ABS brakes using gain scheduled constrained LQR
Control Conference（2001）
摘要
A wheel slip controller for ABS brakes is formulated using an explicit constrained LQR design. The controller gain matrices are designed and scheduled on the vehicle speed based on local linearizations. A Lyapunov function for the nonlinear control system is dervied using the Riccati equation solution in order to prove stability and robustness with respect to uncertainty in the road/tyre friction characteristic. Experimental results from a test vehicle with electromechanical brake actuators and brake-by-wire show that high performance and robustness are achieved.
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关键词
Lyapunov methods,Riccati equations,brakes,control system synthesis,electromechanical actuators,friction,linear quadratic control,linearisation techniques,matrix algebra,nonlinear control systems,robust control,slip,tyres,vehicle dynamics,wheels,ABS brakes,Lyapunov function,Riccati equation solution,antilock brake system,brake-by-wire,constrained LQR design,controller gain matrices,electromechanical brake actuators,local linearizations,nonlinear control system,road-tyre friction characteristic,robustness,stability,test vehicle,vehicle speed,wheel slip controller,Automotive control,gain scheduling,nonlinear systems,robustness,stability
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