Title :
Emergency braking control with an observer-based dynamic tire/road friction model and wheel angular velocity information
Author :
Yi, Jingang ; Alvarez, Luis ; Claeys, Xavier ; Horowitz, Roberto ; Canudas de Wit, Carlos
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Abstract :
A control scheme for emergency braking of vehicles is designed. The scheme utilizes a LuGre dynamic friction model to estimate the tire/road friction. The control system output is the pressure to the braking system, and is calculated using only the wheel angular speed information. The controller utilizes estimated state feedback control to achieve near maximum deceleration. The state observer gain is calculated by using linear matrix inequality (LMI) techniques. This system has two advantages when compared with an antilock braking system (ABS), it generates less chattering during braking and produces a source of a priori information regarding safe spacing
Keywords :
braking; control system synthesis; matrix algebra; observers; road vehicles; state feedback; LMI; LuGre dynamic friction model; chattering; control design; emergency braking control; estimated state feedback control; linear matrix inequality; near maximum deceleration; observer-based dynamic tire/road friction model; pressure; road vehicles; state feedback; state observer gain; tire/road friction estimation; wheel angular speed; wheel angular velocity information; Control systems; Friction; Pressure control; Roads; State estimation; State feedback; Tires; Vehicle dynamics; Vehicles; Wheels;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.945507
