Nonlinear Robust Control of Antilock Braking Systems Assisted by Active Suspensions for Automobile

In this brief, a novel robust control of an antilock braking system (ABS) with the assistance of an active suspension system (ASS) is proposed for automobile to improve the braking performance. Different from other ABS, not the reference wheel slip ratio but the peak tire–road adhesion coefficient is taken as the control object, and the barrier Lyapunov function control method is adopted to confine the control object within a smaller and more stable area. Besides, the rolling resistance is taken as an external disturbance and counteracted by a modified controller. Furthermore, the increase of a tire vertical load via the ASS is explored to further shorten the braking distance under the condition that the trajectory of the sprung mass and suspension space is bounded to a predetermined limitation. Finally, a favorable control simulation consequence is obtained, validating the effectiveness of the proposed control scheme.

[1]  Huijun Gao,et al.  Active Suspension Control With Frequency Band Constraints and Actuator Input Delay , 2012, IEEE Transactions on Industrial Electronics.

[2]  Sangram Patil,et al.  Surface prediction and control algorithms for anti-lock brake system , 2012 .

[3]  Zongxia Jiao,et al.  Adaptive Robust Control of DC Motors With Extended State Observer , 2014, IEEE Transactions on Industrial Electronics.

[4]  Jung-Shan Lin,et al.  Nonlinear control design of anti-lock braking systems with assistance of active suspension , 2007 .

[5]  Mojtaba Mirsalim,et al.  Design of robust speed and slip controllers for a hybrid electromagnetic brake system , 2015 .

[6]  Rodrigue Tchamna,et al.  Combined control effects of brake and active suspension control on the global safety of a full-car nonlinear model , 2014 .

[7]  Xiaogeng Liang,et al.  Backstepping dynamic surface control for an anti-skid braking system , 2015 .

[8]  Francis Eng Hock Tay,et al.  Barrier Lyapunov Functions for the control of output-constrained nonlinear systems , 2009, Autom..

[9]  Wei-Yen Wang,et al.  Hierarchical T-S fuzzy-neural control of anti-lock braking system and active suspension in a vehicle , 2012, Autom..

[10]  Huijun Gao,et al.  Two Time-Scale Tracking Control of Nonholonomic Wheeled Mobile Robots , 2016, IEEE Transactions on Control Systems Technology.

[11]  Liang Li,et al.  Transient switching control strategy from regenerative braking to anti-lock braking with a semi-brake-by-wire system , 2016 .

[12]  Bin Yao,et al.  $\mu$-Synthesis-Based Adaptive Robust Control of Linear Motor Driven Stages With High-Frequency Dynamics: A Case Study , 2015, IEEE/ASME Transactions on Mechatronics.

[13]  Yifu Zhang,et al.  Multi-objective control for uncertain nonlinear active suspension systems , 2014 .

[14]  Tor Arne Johansen,et al.  Gain-scheduled wheel slip control in automotive brake systems , 2003, IEEE Trans. Control. Syst. Technol..

[15]  P. D. Shendge,et al.  Uncertainty-Estimation-Based Approach to Antilock Braking Systems , 2016, IEEE Transactions on Vehicular Technology.

[16]  Bin Wang,et al.  A robust wheel slip ratio control design combining hydraulic and regenerative braking systems for in-wheel-motors-driven electric Vehicles , 2015, J. Frankl. Inst..

[17]  Oleg Makarenkov,et al.  Existence and stability of limit cycles in control of anti-lock braking systems with two boundaries via perturbation theory , 2017, Int. J. Control.

[18]  Zhiyuan Liu,et al.  A Switched Control Strategy for Antilock Braking System With On/Off Valves , 2011, IEEE Transactions on Vehicular Technology.

[19]  P. D. Shendge,et al.  Slip regulation for anti-lock braking systems using multiple surface sliding controller combined with inertial delay control , 2015 .

[20]  Huijun Gao,et al.  Transient-Performance-Guaranteed Robust Adaptive Control and Its Application to Precision Motion Control Systems , 2016, IEEE Transactions on Industrial Electronics.

[21]  Andrew G. Alleyne.  IMPROVED VEHICLE PERFORMANCE USING COMBINED SUSPENSION AND BRAKING FORCES , 1997 .

[22]  Jingang Yi,et al.  Emergency Braking Control with an Observer-based Dynamic Tire/Road Friction Model and Wheel Angular Velocity Measurement , 2003 .

[23]  Dongpu Cao,et al.  Wheel slip control with torque blending using linear and nonlinear model predictive control , 2017 .