Anti-Lock Braking System Using Predictive Control and On-Line Tire/Road Characteristics Estimation
نویسندگان
چکیده
A model predictive controller for optimal braking of a road vehicle is proposed. Taking into account the additional information provided by a torque sensor located in the wheel, there is no need to use any longitudinal model of the vehicle. Instead, we detail a way to identify a tire/road characteristic. This on-line reconstruction is based on an estimation of the longitudinal wheel slip and an estimation of the adhesion torque. The design approach, focused on the angular dynamics of the wheel, allows the use of the controller in vehicles for which assumptions on the longitudinal dynamics are not possible. Therefore, this controller is very indicated for aircraft applications.
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