Observer-Based Coordinated Control for Blended Braking System with Actuator Delay

The coordinated control of a blended braking system is always difficult task. In particular, becomes more challenging when the actuator has an input time-delay and some states cannot be measured. order to improve tracking performance, was designed based on state observation for comprising motor friction system. consists three parts: Sliding mode control, multi-input single-output observer, estimation-based Smith Predictor control. sliding used calculate total command torque according desired performance vehicle states. observer simultaneously estimate output With able effectively track realized through validate effectiveness proposed approach, numerical simulations quarter-vehicle model were performed.