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Table Of Contents

Introduction
1.1 An anti-lock braking system overview
1.2 Literature review
1.3 X-by-Wire
1.3.1 Electromechanical brakes
1.3.2 The H2C project
1.3.3 Requirements for brake-by-wire systems
1.4 Contributions
• Model-based nonlinear wheel slip controller design
1.4.1 Model-based nonlinear wheel slip controller design
1.4.2 Lyapunov stability and robustness analysis
1.4.3 Full-scale verification tests
1.4.4 Scope and organization of H2C project
1.5 Outline
Test Vehicle
2.1 Computer system and limitations
2.2 Vehicle sensors
2.2.1 Wheel-speed sensor
2.3 Electromechanical brake actuator
2.3.1 EMB model
2.3.2 Actuator dynamics
2.4 TTP Communication
2.5 Brake-By-Wire-Manager and Power Manager
Wheel slip dynamics
3.1 Wheel slip dynamics
3.2 Friction modelling
3.2.1 Estimation of friction curves
3.3 Suspension dynamics
4.1 Motivation for gain scheduling
4.2 Linearized slip dynamics
4.3 Wheel slip control design and analysis
4.3.1 Without integral action
4.3.2 With integral action
4.3.3 With actuator dynamics
4.4 Discussion
5.1 Controller structure
5.2 ABS supervisory logic
5.3 Controller states
5.4 LQR with input and state constraints
5.4.1 Overview
5.4.2 Brief introduction to LQRC design theory
5.4.3 Structure of the LQRC solution
5.4.4 State space partitioning
5.4.5 Computational strategies
5.5 ABS specifications for LQRC design
5.5.1 Gain scheduling control
5.5.2 System and cost function specifications
5.5.3 Constraint specifications
5.5.4 Constraint handling
5.6 Frequency response analysis
5.9 Anti-windup
Experimental Results
6.1 Experimental scenarios
6.2 Presentation of experimental results
6.3 Wet inhomogeneous surface
6.3.1 Slip
6.3.2 Lateral stability
6.3.3 Deceleration of vehicle
6.3.4 Friction estimate
6.4.2 Lateral stability
6.10.3 Deceleration of vehicle
6.10.4 Friction estimate
6.10.5 Controller performance
6.11 Experimental problems
Conclusions
7.1 Future works
State and Input Constraints
A.1 Introduction
A.2 Controller decomposition
A.2.1 Active constraint set sequences
A.2.2 Decomposition of the HJB equation
A.3 Computing gain matrices
A.4 State space partitioning
A.4.1 Activity region
A.4.2 Outer Approximations to the Activity Regions
A.4.3 Partitioning Algorithm
A.5 Optimality, complexity and real-time imple-
A.5.1 Upper and lower bounds on cost function
A.5.2 Complexity reduction by sub-optimality
A.5.3 Real-time Implementation
A.6 Conclusions
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Wheel Slip Control in ABS Brakes Using Gain Scheduled Optimal Control With Constrain

Wheel Slip Control in ABS Brakes Using Gain Scheduled Optimal Control With Constrain

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Published by: Joel Deni Ferrer Moreno on Dec 29, 2010
Copyright:Attribution Non-commercial

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05/22/2013

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