On the optimal braking of wheeled vehicles

Author

Otras, Panagiottissi ; De Wit, Carlosc Anudads

Author_Institution

Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA

Volume

1

Issue

6

fYear

2000

fDate

36770

Firstpage

569

Abstract

The standard approach for designing ABS systems is to devise a control law to enforce operation at (or close to) the maximum of the friction force vs. slip curve. This “maximum friction” approach is based on the assumption that the friction force generated at the tire/ground interface can be accurately represented as a (static) function of the slip coefficient with a distinct maximum. Under this assumption, we provide a formal proof of this “maximum friction” approach using optimal control theory. The optimal control is shown to be singular and can be written in a state feedback form

Keywords

braking; force control; friction; optimal control; performance index; road vehicles; state feedback; ABS systems; friction force; maximum friction approach; optimal braking; optimal control theory; singular control; slip coefficient; tire/ground interface; wheeled vehicles; Aerospace engineering; Bang-bang control; Control systems; Force control; Friction; Optimal control; State feedback; Tires; Vehicle driving; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2000. Proceedings of the 2000

Conference_Location

Chicago, IL

ISSN

0743-1619

Print_ISBN

0-7803-5519-9

Type

conf

DOI

10.1109/ACC.2000.878964

Filename

878964