Title :
Dynamic slip ratio estimation and control of antilock braking systems considering wheel angular velocity
Author :
Chen, Ming-Chang ; Wang, Wei-Yen ; Li, I-Hsum ; Su, Shun-Feng
Author_Institution :
Nat. Taiwan Univ. of Sci., Taipei
Abstract :
This paper proposes an antilock braking system (ABS), in which unknown road characteristics are resolved by a road estimator. This estimator is based on the LuGre friction model with a road condition parameter, and can transmit a reference slip ratio to a slip ratio controller through a mapping function considering the effect of wheel angular velocity. In the controller design, a direct adaptive fuzzy-neural controller (DAFC) for an ABS is developed. Finally, this paper gives simulation results of an ABS with the road estimator and the DAFC, and shows good effectiveness under varying road conditions.
Keywords :
adaptive control; angular velocity; automobiles; brakes; braking; control system synthesis; friction; fuzzy control; neurocontrollers; position control; roads; vehicle dynamics; ABS; LuGre friction model; antilock braking systems; controller design; direct adaptive fuzzy-neural controller; dynamic control; dynamic slip ratio estimation; mapping function; road condition; slip control; wheel angular velocity; Adaptive control; Angular velocity; Angular velocity control; Control systems; Friction; Roads; Sliding mode control; Tires; Vehicles; Wheels; antilock braking systems; observer-based direct adaptive fuzzy-neural controller; road estimators;
Conference_Titel :
Systems, Man and Cybernetics, 2007. ISIC. IEEE International Conference on
Conference_Location :
Montreal, Que.
Print_ISBN :
978-1-4244-0990-7
Electronic_ISBN :
978-1-4244-0991-4
DOI :
10.1109/ICSMC.2007.4413846