Title :
Comparison of linear and nonlinear controller applied to an Antilock Braking System
Author :
Martinez-Gardea, M. ; Mares-Guzman, I.J. ; Acosta-Lua, C. ; Vazquez-Alvarez, I.
Author_Institution :
Centro Univ. de la Cienega, Univ. de Guadalajara, Ocotlán, Mexico
Abstract :
Two control techniques are developed for a quarter of a vehicle ABS, Antilock Braking System, using a laboratory setup, manufactured by INTECO. A space-state mathematical model was obtained from the system. The first technique is a basic PID controller and the second one is a nonlinear control method through error feedback using Lyapunov function techniques. Finally, both controllers are simulated using the mathematical model and then compared.
Keywords :
Lyapunov methods; automobiles; braking; linear systems; nonlinear control systems; state-space methods; three-term control; vehicle dynamics; INTECO; Lyapunov function techniques; PID controller; antilock braking system; error feedback; linear controller; nonlinear controller; space-state mathematical model; vehicle ABS; Friction; Lyapunov methods; Mathematical model; Object oriented modeling; Torque; Vehicles; Wheels;
Conference_Titel :
Power, Electronics and Computing (ROPEC), 2014 IEEE International Autumn Meeting on
Conference_Location :
Ixtapa
DOI :
10.1109/ROPEC.2014.7036281
