The purpose of this study is to improve vehicles’ brake stability, the problem of constraint control for an antilock braking system (ABS) with asymmetric slip ratio constraints is concerned. A nonlinear control method based on barrier Lyapunov function (BLF) is proposed not only to track the optimal slip ratio but also to guarantee no violation on slip ratio constraints.
A quarter vehicle braking model and Burckhardt’s tire model are considered. The asymmetric BLF is introduced into the controller for solving asymmetric slip ratio constraint problems.
The proposed controller can implement ABS zero steady-state error tracking of the optimal wheel slip ratio and make slip ratio constraints flexible for various runway surfaces and runway transitions. Simulation and experimental results show that the control scheme can guarantee no violation on slip ratio constraints and avoid self-locking.
The slip rate equation with uncertainties is established, and BLF is introduced into the design process of the constrained controller to realize the slip rate constrained control.
He, Y., Lu, C., Shen, J. and Yuan, C. (2019), "Design and analysis of output feedback constraint control for antilock braking system based on Burckhardt’s model", Assembly Automation, Vol. 39 No. 4, pp. 497-513. https://doi.org/10.1108/AA-08-2018-0119Download as .RIS
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