Extremum-Seeking Control of ABS Braking in Road Vehicles With Lateral Force Improvement

Abstract

An ABS control algorithm based on extremum seeking is presented in this brief. The optimum slip ratio between the tire patch and the road is searched online without having to estimate road friction conditions. This is achieved by adapting the extremum-seeking algorithm as a self-optimization routine that seeks the peak point of the tire force-slip curve. As an additional novelty, the proposed algorithm incorporates driver steering input into the optimization procedure to determine the operating region of the tires on the "tire force"-"slip ratio" characteristic-curve. The algorithm operates the tires near the peak point of the force-slip curve during straight line braking. When the driver demands lateral motion in addition to braking, the operating regions of the tires are modified automatically, for improving the lateral stability of the vehicle by increasing the tire lateral forces. A validated, full vehicle model is presented and used in a simulation study to demonstrate the effectiveness of the proposed approach. Simulation results show the benefits of the proposed ABS controller.Index Terms-ABS control problem, extremum-seeking algorithm (ESA), lateral stability, optimum slip ratio.

Self optimizing ABS control algorithm with application

“…By taking derivative of the slip ratio in (14) and integrating with the dynamics equations of (15), (16) and by using the update law given in (3) for κ , the desired braking moment input M des can be calculated as follows, …”

A Global Optimal Control Methodology and its Application to a Mobile Robot Model

“…According to the effect on the system output, the search signal is increased or decreased. In sliding mode based technique (Dincmen et al, 2014;Dincmen and Guvenc, 2012;Drakunov et al, 1995;Fu and Ozguner, 2011;Haskara et al, 2000), a sliding surface is selected such that when the system is in sliding mode, the states move towards the a priori unknown optimum operation point. The numerical optimization based schemes (Vweza et al, 2015;Zhang and Ordonez, 2007) use various iteration algorithms to find the optimum operation point.…”

Backstepping dynamic surface control for an anti-skid braking system

“…Moreover, a class of fuzzy/neural network controls and their combination with adaptive approaches (Ćirović Contents Mirzaei et al, 2005;Sharkawy, 2010) have been used for adaptive prediction of wheel slip. In addition, feedback control (Mirzaeinejad & Mirzaei, 2010;Tanelli et al, 2008), iterative learning control (Mi, Lin, & Zhang, 2005) and extremum seeking control (Dincmen & Güvenc, 2012;Dincmen et al, 2014;Zhang & Ordóñez, 2007) are applied in this field. Many research efforts have been devoted to adjusting the setting of slip ratio and regulating the reference slip ratio or optimal slip ratio to achieve good tracking.…”