In modern road vehicles, active braking control systems are crucial elements to ensure safety and lateral stability. Unfortunately, the wheel slip dynamics is highly nonlinear and the on-line estimation of the road-tire conditions is still a challenging open research problem. These facts make it difficult to devise a braking control system that is reliable in any situation without being too conservative. In this paper, we propose the Data-Driven Inversion Based Control (D2-IBC) approach to overcome the above issues. The method relies on a two degrees of freedom architecture, with a linear controller and a nonlinear controller in parallel, both designed using only experimental data. The effectiveness of the proposed approach is shown by means of an extensive simulation campaign.
A data-driven approach to nonlinear braking control / Novara, Carlo; Formentin, Simone; Savaresi, Sergio M.; Milanese, Mario. - (2015), pp. 1453-1458. (Intervento presentato al convegno 54th IEEE Conference on Decision and Control tenutosi a Osaka, Japan).
A data-driven approach to nonlinear braking control
NOVARA, Carlo;
2015
Abstract
In modern road vehicles, active braking control systems are crucial elements to ensure safety and lateral stability. Unfortunately, the wheel slip dynamics is highly nonlinear and the on-line estimation of the road-tire conditions is still a challenging open research problem. These facts make it difficult to devise a braking control system that is reliable in any situation without being too conservative. In this paper, we propose the Data-Driven Inversion Based Control (D2-IBC) approach to overcome the above issues. The method relies on a two degrees of freedom architecture, with a linear controller and a nonlinear controller in parallel, both designed using only experimental data. The effectiveness of the proposed approach is shown by means of an extensive simulation campaign.File | Dimensione | Formato | |
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https://hdl.handle.net/11583/2626387
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