Robust control for aircraft anti-skid braking system based on dynamic tire/road friction force model

The aircraft anti-skid braking system plays an important role for the safety during taxiing. Aircraft tire/road friction force is essential information for model based control law. In this paper, a robust control strategy with an observerbased dynamic aircraft tire/road model is given to improve the brake quality. Firstly, the nonlinear fuselage and wheel models are derived. The tire/road friction force is derived with LuGre dynamic friction model considering velocity correlation, in which the internal friction state is estimated by dual-observer. In case of external disturbance and modeling error, a robust controller is employed to track the online calculated desired slip rate. The simulation results show that the well-designed controller has stable brake performance. Keywords-aircraft braking control; LuGre dynamic friction model; robust control; state estimation; nonlinear control