An adaptive control scheme for emergency braking of vehicles is designed based on a LuGre dynamic model for the tire-road friction. The wheel angular speed and longitudinal vehicle acceleration information are used to design a fast convergence observer to estimate the vehicle velocity and the internal state of the friction model. The unknown parameters of the dynamic friction model are estimated through a parameter adaptation law. A Lyapunov-based state estimator and a stabilizing braking controller are designed to achieve near to maximum braking capability of the vehicle. Underestimation of the maximum friction coefficient, a very desirable feature from the perspective of safety, is guaranteed by a proper choice of adaptation gains and initial values of the estimated friction parameters.
Issue Section:
Technical Papers
Keywords:
adaptive control,
angular velocity control,
control system synthesis,
vehicle dynamics,
parameter estimation,
road vehicles,
braking,
traction,
observers,
nonlinear control systems,
Lyapunov methods,
rolling friction,
tyres,
emergent phenomena,
road safety,
Automotive Control,
Adaptive Control,
Nonlinear Observers
Topics:
Braking,
Control equipment,
Emergencies,
Friction,
Roads,
Sliding friction,
Tires,
Vehicles,
Design,
Adaptive control,
Wheels,
Braking control
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