Robust nonlinear output feedback control for brake by wire control systems. (English) Zbl 1283.93105

Summary: This work proposes a nonlinear output feedback control law for active braking control systems. The control law guarantees bounded control action and can cope also with input constraints. Moreover, the closed-loop system properties are such that the control algorithm allows to detect – without the need of a friction estimator – if the closed-loop system is operating in the unstable region of the friction curve, thereby allowing to enhance both braking performance and safety. The design is performed via Lyapunov-based methods and its effectiveness is assessed via simulations on a multibody vehicle simulator.


93B35 Sensitivity (robustness)
93B52 Feedback control
93C95 Application models in control theory
93D05 Lyapunov and other classical stabilities (Lagrange, Poisson, \(L^p, l^p\), etc.) in control theory
Full Text: DOI


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