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.