Optimal Control for Anti-Braking System

The goal of this study consists to design of a control law in order to optimize the braking/traction force. To maximize this force, it must to localize the wheel slip which corresponds to the maximum tire road adhesion characteristic. In the strategy of the control proposed here, the wheel slip control reference is not imposed but this reference would be generated to reach the optimal wheel slip corresponding to the maximum of the tire road characteristic curve. The generation of the control reference is based of the use of a nominal Pacejka tyre model. To adjust this curve around a maximum of real adhesion curve, the model is rewrite in function of two variables which would be estimated. The proposed control method is verified through one-wheel simulation model with a "magic formula" tire model. Simulations results show the effectiveness of this controller scheme