Nonlinear Robust Controller Applied to an Antilock Braking System With Estimation of Parametric Uncertainties and External Perturbations
The Anti–lock Braking System (ABS) is an active safety feature that reduces braking distance in automobiles by preventing the wheels from locking and skidding. Achieving optimal braking conditions is challenging due to the nonlinear dynamics and parametric uncertainties present in both th...
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| Format: | Article |
| Language: | English |
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IEEE
2024-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10807176/ |
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| author | Cuauhtemoc Acosta Lua Stefano Di Gennaro |
| author_facet | Cuauhtemoc Acosta Lua Stefano Di Gennaro |
| author_sort | Cuauhtemoc Acosta Lua |
| collection | DOAJ |
| description | The Anti–lock Braking System (ABS) is an active safety feature that reduces braking distance in automobiles by preventing the wheels from locking and skidding. Achieving optimal braking conditions is challenging due to the nonlinear dynamics and parametric uncertainties present in both the longitudinal dynamics of the vehicle and the wheel dynamics. To address this issue, this paper proposes a nonlinear robust controller that, using an estimator designed with High Order Sliding Mode (HOSM), estimates the parametric uncertainties and external perturbations and ensures the tracking of the desired references. The proposed controller’s performance has been validated through numerical simulations using CarSim and real–time experiments on an ABS laboratory setup, representing a quarter–car model. Quantitative results demonstrate the controller’s effectiveness, achieving reductions in key performance indicators (KPIs), such as the Mean Squared Error (MSE) of the slip tracking error and the Mean Absolute Error (MAE), compared to a baseline controller without the HOSM estimator. Additionally, the controller ensures finite–time estimation of uncertain parameters and external disturbances, enabling faster and more efficient braking. These results highlight the practical potential of the proposed methodology in enhancing automotive braking systems. |
| format | Article |
| id | doaj-art-f2ac77aa13c24a8bb6a66bbf198f345e |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-f2ac77aa13c24a8bb6a66bbf198f345e2025-01-04T00:00:51ZengIEEEIEEE Access2169-35362024-01-011219668819670110.1109/ACCESS.2024.352049210807176Nonlinear Robust Controller Applied to an Antilock Braking System With Estimation of Parametric Uncertainties and External PerturbationsCuauhtemoc Acosta Lua0https://orcid.org/0000-0002-7398-2629Stefano Di Gennaro1https://orcid.org/0000-0002-2014-623XDepartamento de Ciencias Tecnológicas, Centro Universitario de la Ciénega, Universidad de Guadalajara, Ocotlán, Jalisco, MexicoCenter of Excellence DEWS, University of L’Aquila, L’Aquila, ItalyThe Anti–lock Braking System (ABS) is an active safety feature that reduces braking distance in automobiles by preventing the wheels from locking and skidding. Achieving optimal braking conditions is challenging due to the nonlinear dynamics and parametric uncertainties present in both the longitudinal dynamics of the vehicle and the wheel dynamics. To address this issue, this paper proposes a nonlinear robust controller that, using an estimator designed with High Order Sliding Mode (HOSM), estimates the parametric uncertainties and external perturbations and ensures the tracking of the desired references. The proposed controller’s performance has been validated through numerical simulations using CarSim and real–time experiments on an ABS laboratory setup, representing a quarter–car model. Quantitative results demonstrate the controller’s effectiveness, achieving reductions in key performance indicators (KPIs), such as the Mean Squared Error (MSE) of the slip tracking error and the Mean Absolute Error (MAE), compared to a baseline controller without the HOSM estimator. Additionally, the controller ensures finite–time estimation of uncertain parameters and external disturbances, enabling faster and more efficient braking. These results highlight the practical potential of the proposed methodology in enhancing automotive braking systems.https://ieeexplore.ieee.org/document/10807176/Nonlinear controlground vehiclesdisturbances and uncertainty estimation |
| spellingShingle | Cuauhtemoc Acosta Lua Stefano Di Gennaro Nonlinear Robust Controller Applied to an Antilock Braking System With Estimation of Parametric Uncertainties and External Perturbations IEEE Access Nonlinear control ground vehicles disturbances and uncertainty estimation |
| title | Nonlinear Robust Controller Applied to an Antilock Braking System With Estimation of Parametric Uncertainties and External Perturbations |
| title_full | Nonlinear Robust Controller Applied to an Antilock Braking System With Estimation of Parametric Uncertainties and External Perturbations |
| title_fullStr | Nonlinear Robust Controller Applied to an Antilock Braking System With Estimation of Parametric Uncertainties and External Perturbations |
| title_full_unstemmed | Nonlinear Robust Controller Applied to an Antilock Braking System With Estimation of Parametric Uncertainties and External Perturbations |
| title_short | Nonlinear Robust Controller Applied to an Antilock Braking System With Estimation of Parametric Uncertainties and External Perturbations |
| title_sort | nonlinear robust controller applied to an antilock braking system with estimation of parametric uncertainties and external perturbations |
| topic | Nonlinear control ground vehicles disturbances and uncertainty estimation |
| url | https://ieeexplore.ieee.org/document/10807176/ |
| work_keys_str_mv | AT cuauhtemocacostalua nonlinearrobustcontrollerappliedtoanantilockbrakingsystemwithestimationofparametricuncertaintiesandexternalperturbations AT stefanodigennaro nonlinearrobustcontrollerappliedtoanantilockbrakingsystemwithestimationofparametricuncertaintiesandexternalperturbations |