Braking systems that prevent wheel locking are employed in both land and air vehicles. This work develops a control that avoids the locking of the wheels during braking. For this purpose, a slip control was carried out for the case where there is only the longitudinal movement of the unicycle. The slip, calculated from the states (longitudinal speed of the vehicle and angular speed of the wheel), is compared to a reference slip, which is updated through the feedback of the states and torque. The control uses the Nonlinear Model Predictive Control (NMPC) strategy, considering the system restrictions. Finally, performance cost functions were calculated to validate the results obtained in the control. Resumo: Sistemas de frenagem que evitam o travamento da roda são empregados tanto em veículos terrestres quanto aéreos. Este trabalho desenvolve um controle que evita o travamento das rodas durante uma frenagem em movimento apenas longitudinal de um modelo de monociclo por meio do controle do deslizamento entre a roda e o solo. O deslizamento, calculado por meio dos estados (velocidade longitudinal do veículo e velocidade angular da roda), é comparado a um deslizamento de referência, este sendo atualizado por meio do feedback dos estados e do torque. O controle utiliza a estratégia do Nonlinear Model Predictive Control (NMPC), comportando as restrições do sistema. Por fim, funções de custo de performance foram calculadas para validar os resultados obtidos do controle.
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