State Feedback Based Linear Slip Control Formulation for Vehicular Antilock Braking System
نویسندگان
چکیده
This paper presents the formulation of a slipcontrol model for purposes of performing slip tracking of target slip. Antilock braking system modelling is performed to develop a quarter car vehicle deceleration model for braking without cornering. Input-state based feedback linearisation is applied to the highly non-linear developed antilock braking system model. Input-state feedback linearisation is shown to provide a transformed linear ABS model while ensuring a verifiable stable state transformation. Lie algebra is used to formalise the analysis of the linearising transformation. Simulation results of a quarter car vehicle’s braking dynamics demonstrate the validity of the approach along with the key development of a output to state transformation that facilitates the implementation of the linearisation approach as a mechatronic technique to antilock braking system control.
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