DocumentCode
701951
Title
Wheel slip control using gain-scheduled LQ — LPV/LMI analysis and experimental results
Author
Petersen, Idar ; Johansen, Tor A. ; Kalkkuhl, Jens ; Ludemann, Jens
Author_Institution
SINTEF Electronics and Cybernetics, N-7465 Trondheim, Norway
fYear
2003
fDate
1-4 Sept. 2003
Firstpage
880
Lastpage
885
Abstract
A wheel slip controller for Anti-lock Brake Systems (ABS) is designed using LQ-optimal control. The controller gain matrices are gain scheduled on the vehicle speed. A parameter dependent Lyapunov function for the nominal linear parameter varying (LPV) closed loop system is found by solving a linear matrix inequality (LMI) problem. This Lyapunov function is used to investigate robustness with respect to uncertainty in the road/tyre friction characteristic. Experimental results from a test vehicle with electromechanical brake actuators and brake-by-wire show that high performance and robustness are achieved.
Keywords
Force; Friction; Lyapunov methods; Roads; Robustness; Tires; Wheels; Automotive control; gain scheduling; linear matrix inequalities; nonlinear systems; robustness;
fLanguage
English
Publisher
ieee
Conference_Titel
European Control Conference (ECC), 2003
Conference_Location
Cambridge, UK
Print_ISBN
978-3-9524173-7-9
Type
conf
Filename
7085069
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