Extended Braking Stiffness Estimation Based on a Switched Observer, With an Application to Wheel-Acceleration Control
HOANG ; PASILLAS LEPINE ; DE BERNARDINIS ; NETTO
Type de document
ARTICLE A COMITE DE LECTURE REPERTORIE DANS BDI (ACL)
Langue
anglais
Auteur
HOANG ; PASILLAS LEPINE ; DE BERNARDINIS ; NETTO
Résumé / Abstract
In the context of hybrid anti-lock brake systems, a closed-loop wheel-acceleration controller based on the observation of the extended braking stiffness (XBS) is provided. Its objective is to improve the system’s robustness with respect to changes in the environment (as changes in road conditions, brake properties, etc.). The observer design is based on Burckhardt’s tire model, which provides a wheel acceleration dynamics that is linear up to time-scaling. The XBS is one of the state variables of this model. This paper’s main result is an observer that estimates this unmeasured variable. When the road conditions are known, a 3-D observer solves the problem. However, for unknown road conditions, a more complex 4-D observer must be used instead. In both the cases, the observer’s convergence is analyzed using tools for switched linear systems that ensure uniform exponential stability (provided that a dwell-time condition is satisfied). Both experiments and simulations confirm the convergence properties predicted by the theoretical analysis.
Source
IEEE Transactions on Control Systems Technology, num. 6, pp 2384-2392 p.
Editeur
INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS - IEEE
