Robust Adaptive Anti-lock Braking Controller Design
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To ensure steering ability and maximize tire-road friction, a robust wheel slip controller is developed for antilock braking system, which is also adaptive to different road conditions. Aiming at the problem of vehicle velocity estimation, a dynamic and kinematic fusion method is proposed. Meanwhile, a non-affine parameter estimator is adopted to estimate road condition using improved Burckhardt model, the optimal target slip ratio is adaptive adjusted according to the estimate road condition. Then conditional integration method is used to make the wheel slip ratio converge to the desired value considering the uncertainty of parameters and constraints of actuators. Finally, simulation results under multi working conditions show that the proposed control approach is adaptive to road change and good performance is achieved that can prevent wheels from locking effectively.
KeywordsAnti-lock braking system Vehicle velocity estimation Optimal slip ratio estimation Slip ratio control
This research is supported by ‘Nation key Research and Development Program of China’ (Grant No. 2018YFB0105804), ‘Nation key Research and Development Program of China’ (Grant No. 2018YFB0104805) and the International Exchange Program for Graduate Students, Tongji University.
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