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1、IEEETRANSACTIONSONCONTROLSYSTEMSTECHNOLOGY,VOL.11,NO.6,NOVEMBER2003799Gain-ScheduledWheelSlipControlinAutomotiveBrakeSystemsTorA.Johansen,SeniorMember,IEEE,IdarPetersen,JensKalkkuhl,andJensLüdemannAbstract—Awheelslipcontrollerisdevelopedandexperimen-[9]
2、,ratherthanconventionalhydraulicactuators,whichallowtallytestedinacarequippedwithelectromechanicalbrakeactu-accuratecontinuousadjustmentoftheclampingforce.Despiteatorsandabrake-by-wiresystem.Againschedulingapproachisthefactthatthewheelslipdynamicsarehig
3、hlynonlinear,ourtaken,wherethevehiclespeedisviewedasaslowlytime-varyingcontroldesignreliesonlocallinearizationandgain-scheduling.parameterandthemodelislinearizedaboutthenominalwheelslip.Gainmatricesforthedifferentoperatingconditionsarede-Inordertoanalyz
4、etheeffectsofthissimplification,wedevelopsignedusinganLQRapproach.ThestabilityandrobustnessofasomewhatidealizedLyapunov-basednonlinearstabilityandthecontrollerarestudiedviaLyapunovtheory,frequencyanalysis,robustnessanalysis,takingintoaccountuncertaintir
5、efrictionandexperimentsusingatestvehicle.nonlinearities.Inordertoalsoinvestigatetheeffectsofsam-IndexTerms—Antilockbraking,automotivecontrol,gainsched-pling,communicationsdelays,actuatordynamics,andthefun-uling,nonlinearcontrol,optimalcontrol.damentalli
6、mitationsinperformance,thisanalysisiscomple-mentedbyaclassicalfrequencyanalysis.ExperimentsusingaI.INTRODUCTIONtestvehicleareincluded.Othercontributionstomodel-basedwheelslipcontrolforNANTILOCKbrakesystem(ABS)controlstheslipofABScanbefoundintheliteratur
7、e.Anadaptivecontrol-Lya-Aeachwheelofavehicletopreventitfromlockingsuchpunovapproachissuggestedin[10],andsimilarideasarethatahighfrictionisachievedandsteerabilityismaintained.pursuedin[11],[12].TheuseofSontag’sformulaisappliedinABSbrakesarecharacterizedb
8、yrobustadaptivebehaviorwiththeadaptivecontrolLyapunovapproachin[13],whichincludesrespecttohighlyuncertaintirecharacteristicsandfastchanginggainschedulingonvehiclespeedandexperimentaltesting.roadsurfacepropertiesandtheyhavebeencom
