Robust Adaptive Stabilization of Moving a Car Under Braking with ABS in Control Circuit 2001-01-3187
Considered a problem of building optimum robust-adaptive regulator for ensuring of longitudinal and transverse stability of car, condition which known only in discrete moments of time.
Analyzed situation, when is realized car emergency braking on surfaces with different friction factors for left and right wheels, as well as on roads, where occurs a constant changing a covering with low and high friction factor. From standpoints of trends to the snowdrift (loss of stability) area of initial braking is the most dangerous.
It is offer to use two different circuits of control for separate deciding the problems to maximization a deceleration and minimization of angular speedup of prowling.
For the building of robust regulator is used method, based on using the Lyapunov square-law functions.
It is build single-line model of moving a vehicle, described by differential 16-order equations.
Citation: Magomedov, M., Alexandrov, V., and Pupkov, K., "Robust Adaptive Stabilization of Moving a Car Under Braking with ABS in Control Circuit," SAE Technical Paper 2001-01-3187, 2001, https://doi.org/10.4271/2001-01-3187. Download Citation
Author(s):
M. Magomedov, V. Alexandrov, K. Pupkov
Affiliated:
Mechanics & Control Department, Lomonosov State University of Moscow, Control Systems Department, Bauman State Technical University of Moscow
Pages: 13
Event:
Automotive and Transportation Technology Congress and Exposition
ISSN:
0148-7191
e-ISSN:
2688-3627
Also in:
ATTCE 2001 Proceedings Volume 6 - Chassis and Total Vehicle-P-372
