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A sliding mode based extremum seeking algorithm is applied to the ABS control problem where the optimum slip ratio is searched online for maximum braking force in unknown road conditions. By making the parameter of the search algorithm adaptive, an adaptive extremum seeking scheme is proposed to improve the behavior of the controlled system around the optimum operating point. Simulation study is presented...
In this paper, closed-loop controller design involving brake, tire, road and actuator modeling complexities is considered. The closed-loop is separated in two parts; the inner loop is based on optimum braking algorithm by acting on individually actuated Antilock Brake Systems and the outer loop constitutes an optimal state feedback active steering design as an additional feedback loop to guarantee...
In this paper, active safety enhancement for individual wheel braking actuated vehicle dynamics is presented. The nonlinear tire characteristics play an important role during manoeuvering tasks since tire forces may be saturated when the tire slip angle exceeds some a priori unknown slip value. Saturated forces, especially in the lateral direction, may result in an increase on the vehicle side slip...
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