Model based wheel slip control via constrained optimal algorithm

The main focus of this paper is on the design and implementation of an antilock brake control system (ABS) for brake-by-wire (BBW) system using a generic model predictive control (MPC) scheme. The advent of BBW system offers a more accurate and continuous braking control, hence poses the possibility of introducing an advanced control algorithm for ABS system. The proposed algorithm aims to utilize this technology and the behavior of the model to optimize the wheel slip dynamics subject to system constraints. The final implementation of the controller embraces the decentralized control architecture of BBW system to independently control the brake torque at each four wheels. The performance of a wheel slip controller is validated through hardware-in-the-loop simulation (HiL), which consists of physical BBW brake calipers and the real-time nonlinear vehicle dynamic simulation model to accommodate the realistic brake-by-wire system.