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Synthesis of a Model-based Tire Slip Controller

Solyom, Stefan LU (2002)
Abstract
The Anti-lock Braking System (ABS) is an important component of a complex steering system for the modern car. In the latest generation of brake-by-wire systems, the performance requirements on the ABS have changed. The controllers have to be able to maintain a specified tire slip for each wheel during braking. This thesis proposes a design model and based on that a hybrid controller that regulates the tire-slip. Simulation and test results are presented. A design method for robust PID controllers is presented. Robustness is ensured with respect to a cone bounded static nonlinearity acting on the plant. Additional constraints on maximum sensitivity are also considered. The design procedure has been successfully applied in the synthesis of... (More)
The Anti-lock Braking System (ABS) is an important component of a complex steering system for the modern car. In the latest generation of brake-by-wire systems, the performance requirements on the ABS have changed. The controllers have to be able to maintain a specified tire slip for each wheel during braking. This thesis proposes a design model and based on that a hybrid controller that regulates the tire-slip. Simulation and test results are presented. A design method for robust PID controllers is presented. Robustness is ensured with respect to a cone bounded static nonlinearity acting on the plant. Additional constraints on maximum sensitivity are also considered. The design procedure has been successfully applied in the synthesis of the proposed hybrid ABS controller. Trajectory convergence for a class of nonlinear systems is analyzed. The servo problem for piecewise linear systems is treated. Convex optimization is used to describe the behavior of system trajectories of a piecewise linear system with respect to some input signals. (Less)
Please use this url to cite or link to this publication:
author
supervisor
organization
publishing date
type
Thesis
publication status
published
subject
keywords
LMI, synthesis, hybrid, piecewise linear, ABS, PID
pages
74 pages
publisher
Department of Automatic Control, Lund Institute of Technology (LTH)
language
English
LU publication?
yes
id
e6b7a865-ef46-4336-814a-4f111f59b9c9 (old id 1044361)
date added to LUP
2008-03-05 13:36:12
date last changed
2016-09-19 08:44:58
@misc{e6b7a865-ef46-4336-814a-4f111f59b9c9,
  abstract     = {The Anti-lock Braking System (ABS) is an important component of a complex steering system for the modern car. In the latest generation of brake-by-wire systems, the performance requirements on the ABS have changed. The controllers have to be able to maintain a specified tire slip for each wheel during braking. This thesis proposes a design model and based on that a hybrid controller that regulates the tire-slip. Simulation and test results are presented. A design method for robust PID controllers is presented. Robustness is ensured with respect to a cone bounded static nonlinearity acting on the plant. Additional constraints on maximum sensitivity are also considered. The design procedure has been successfully applied in the synthesis of the proposed hybrid ABS controller. Trajectory convergence for a class of nonlinear systems is analyzed. The servo problem for piecewise linear systems is treated. Convex optimization is used to describe the behavior of system trajectories of a piecewise linear system with respect to some input signals.},
  author       = {Solyom, Stefan},
  keyword      = {LMI,synthesis,hybrid,piecewise linear,ABS,PID},
  language     = {eng},
  note         = {Licentiate Thesis},
  pages        = {74},
  publisher    = {Department of Automatic Control, Lund Institute of Technology (LTH)},
  title        = {Synthesis of a Model-based Tire Slip Controller},
  year         = {2002},
}