Robust force control for brake-by-wire actuators via scenario optimization
نویسندگان
چکیده
منابع مشابه
Estimation of Vehicle Velocity Using Brake-by-wire Actuators
This paper describes an approach of how to estimate the vehicle velocity using additional sensors provided by the brake-by-wire actuators. The advantage of brake-by-wire actuators such as the electro-hydraulic (EHB) and the electro-mechanical brake (EMB) is that the caliper pressure or the clamping force, respectively, are known. Wheel speed, vehicle acceleration, and caliper pressure or clampi...
متن کاملRobust Force Control of Series Elastic Actuators
Force-controlled series elastic actuators (SEA) are widely used in novel human-robot interaction (HRI) applications, such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop”, so that control response and stability depend on uncertain human dynamics, including reflexes and voluntary forces. This paper proposes a force control appro...
متن کاملRobust Hybrid Motion Force Control Algorithm for Robot Manipulators
In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...
متن کاملRobust Force and Impedance Control of Series Elastic Actuators
Abstract. This paper deals with robust H∞ force and impedance control of series elastic actuators. It is considered that the series elastic actuators are subject to parametric uncertainties and external disturbances. Robust controllers based on the H∞ criterion have been widely used among robotic applications for guaranteeing good disturbance rejection properties. The H∞ force and impedance con...
متن کاملControl of an Electromechanical Brake for Automotive Brake-By-Wire Systems with an Adapted Motion Control Architecture
A disk brake clamp force controller for electromechanical brakes (EMB) in automotive brake-by-wire systems may be obtained from a standard motion control architecture with cascaded position, speed and current control loops by replacing the outer position control loop with a force control loop. When implemented with proportional, integral and differential (PID) controllers this architecture gene...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2020
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2020.12.025