We investigate the stability and robustness properties of Anti-lock Braking Systems based on actuators with on/off dynamics. Namely, we propose a hybrid ABS controller which gives rise to an asymptotically stable limit cycle on the wheel slip. The proposed approach allows to derive exact information on the maximum allowable uncertainty in the measured variables which guarantee the cycle stability. Moreover, a structural stability analysis is performed with respect to different road conditions and to the actuator rate limit.
Limit cycles analysis in hybrid anti-lock braking systems / M., Tanelli; G., Osorio; DI BERNARDO, Mario; S., Savaresi; A., Astolfi. - STAMPA. - (2007), pp. 3865-3870. (Intervento presentato al convegno IEEE Conference on Decision and Control tenutosi a New Orleans nel NOVEMBRE 2007) [10.1109/CDC.2007.4434433].
Limit cycles analysis in hybrid anti-lock braking systems
DI BERNARDO, MARIO;
2007
Abstract
We investigate the stability and robustness properties of Anti-lock Braking Systems based on actuators with on/off dynamics. Namely, we propose a hybrid ABS controller which gives rise to an asymptotically stable limit cycle on the wheel slip. The proposed approach allows to derive exact information on the maximum allowable uncertainty in the measured variables which guarantee the cycle stability. Moreover, a structural stability analysis is performed with respect to different road conditions and to the actuator rate limit.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
