Optimal braking and estimation of tyre friction in automotive vehicles using sliding modes

An investigation of the effects of pneumatic actuator design on slip control for heavy vehicles

“…However, describing these algorithms requires lengthy discussions that are considered out of the scope of this paper. Further details about braking force and speed estimation can be found in [10], or elsewhere in [22,27]. For this paper, however, it is assumed that the vehicle speed and braking force signals are available to the slip controller.…”

“…Drakunov et al [21] derived a 'peak seeking' controller with respect to the slip-friction curve, and tested it on a four-wheel vehicle model that featured a description of the flow through the hydraulic braking circuit. Patel et al [22] used a more modern approach, based on sliding mode theory, to formulate a slip controller for a simulated vehicle. Unsal The authors approximated the brake actuators as first-order filters and looked at the effect of changing the time constant of the filters on control oscillations.…”

“…The estimation algorithms needed to support Equation (22) have been developed as part of this braking project. However, describing these algorithms requires lengthy discussions that are considered out of the scope of this paper.…”

Optimization‐based adaptive sliding mode control with application to vehicle dynamics control

“…As reported in the literature, the velocity of the vehicle can be estimated through Kalman filters, fuzzy logic, or nonlinear observers of the vehicle acceleration combined with wheel speed measurements. In recent years, in the automotive field, SM observers have also been successfully used . As for the control algorithms, the conventional ones are mainly based on PID controllers, often with feedforward components, whereas more advanced and robust controllers, relying on SMC theory, have been proposed and analyzed in the literature …”

“…In recent years, in the automotive field, SM observers have also been successfully used. [23][24][25][26][27][28][29][30][31] As for the control algorithms, the conventional ones are mainly based on PID controllers, often with feedforward components, whereas more advanced and robust controllers, relying on SMC theory, have been proposed and analyzed in the literature. [32][33][34][35][36] Sliding mode control has many positive features, such as finite-time convergence, which is beneficial in terms of tracking performance and robustness.…”