Tire Slip H∞ Control for Optimal Braking Depending on Road Condition

Meléndez-Useros, Miguel; Jiménez-Salas, Manuel; Viadero-Monasterio, Fernando; Boada, Beatriz L.

doi:10.3390/s23031417

Cited by 12 publications

(4 citation statements)

References 40 publications

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“…However, this approach may lead to suboptimal braking performance on certain surfaces. Another approach is to estimate the friction and then match it with the closest value from a predefined lookup table, available at [ 203 ], to identify the road type and subsequently select the appropriate reference slip. Implementing this approach can be challenging due to the presence of noise in the measured data.…”

Section: Applied Control Methodsmentioning

confidence: 99%

Review of Integrated Chassis Control Techniques for Automated Ground Vehicles

Skrickij,

Kojis,

Šabanovič

et al. 2024

Sensors

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Integrated chassis control systems represent a significant advancement in the dynamics of ground vehicles, aimed at enhancing overall performance, comfort, handling, and stability. As vehicles transition from internal combustion to electric platforms, integrated chassis control systems have evolved to meet the demands of electrification and automation. This paper analyses the overall control structure of automated vehicles with integrated chassis control systems. Integration of longitudinal, lateral, and vertical systems presents complexities due to the overlapping control regions of various subsystems. The presented methodology includes a comprehensive examination of state-of-the-art technologies, focusing on algorithms to manage control actions and prevent interference between subsystems. The results underscore the importance of control allocation to exploit the additional degrees of freedom offered by over-actuated systems. This paper systematically overviews the various control methods applied in integrated chassis control and path tracking. This includes a detailed examination of perception and decision-making, parameter estimation techniques, reference generation strategies, and the hierarchy of controllers, encompassing high-level, middle-level, and low-level control components. By offering this systematic overview, this paper aims to facilitate a deeper understanding of the diverse control methods employed in automated driving with integrated chassis control, providing insights into their applications, strengths, and limitations.

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Section: Applied Control Methodsmentioning

confidence: 99%

Review of Integrated Chassis Control Techniques for Automated Ground Vehicles

Skrickij,

Kojis,

Šabanovič

et al. 2024

Sensors

View full text Add to dashboard Cite

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“…For control design, we consider the H ∞ performance as [46] V (t) + z ⊤ (t)z(t) − γ 2 w ⊤ (t)w(t) < 0 (43) where the positive scalar γ is to be minimized for disturbance attenuation. From ( 39), ( 40), ( 42) and ( 43), the upper bound of the time derivative of Lyapunov-Krasovskii functional defined in (36) can be derived as…”

Section: Event-triggered Control Designmentioning

confidence: 99%

Event-Triggered Robust Path Tracking Control Considering Roll Stability Under Network-Induced Delays for Autonomous Vehicles

Viadero-Monasterio,

Nguyen,

Lauber

et al. 2023

IEEE Trans. Intell. Transport. Syst.

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“…In this section, a designed MR brake is assembled on the motorcycle "BMW R1200RT" through mathematical algorithms and MATLAB Simulink to evaluate the braking phenomena. Both in the actual mode and simulation mode, the braking system is used to slow down the vehicle or keep the vehicle stationary [40,41]. Motorcycle dynamics, road characteristics, and controlled braking torque are used to formulate different mathematical models.…”

Section: System Identification Of Brake Actuation and Wheel Slip Controlmentioning

confidence: 99%

Optimal Design and Control Performance Evaluation of a Magnetorheological Fluid Brake Featuring a T-Shape Grooved Disc

Turabimana

Sohn

2023

Actuators

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Magnetorheological fluid brakes are a promising technology for developing high-performance drive-by-wire braking systems due to their controllability and adaptability. This research aims to design an optimal magnetorheological fluid brake for motorcycles and their performance. The proposed model utilizes mathematical modeling and finite element analysis using commercial software. Furthermore, the optimization of this MR brake is determined through multi-objective optimization with a genetic algorithm that maximizes braking torque while simultaneously minimizing weight and the cruising temperature. The novelty lies in the geometric shape of the disc, bobbin, and MR fluid channels, which results in a light MR brake weighing 6.1 kg, an operating temperature of 89.5 °C, and a power consumption of 51 W with an output braking torque of 303.9 Nm. Additionally, the control performance is evaluated using an extended Kalman filter controller. This controller effectively regulates braking torque, speed, and slip rate of both the rear and front wheels based on road characteristics and motorcycle dynamics. This study’s findings show that the front wheel necessitates higher braking torque compared to the rear wheel. Moreover, the slip rate is higher on the rear wheel than on the front wheel, but the front wheel stops earlier than the rear wheel.

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Tire Slip H∞ Control for Optimal Braking Depending on Road Condition

Cited by 12 publications

References 40 publications

Review of Integrated Chassis Control Techniques for Automated Ground Vehicles

Review of Integrated Chassis Control Techniques for Automated Ground Vehicles

Event-Triggered Robust Path Tracking Control Considering Roll Stability Under Network-Induced Delays for Autonomous Vehicles

Optimal Design and Control Performance Evaluation of a Magnetorheological Fluid Brake Featuring a T-Shape Grooved Disc

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