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Estimation of road frictional force and wheel slip for effective antilock braking system (ABS) control

Rajendran, S; Spurgeon, SK; Tsampardoukas, G; Hampson, R; (2019) Estimation of road frictional force and wheel slip for effective antilock braking system (ABS) control. International Journal of Robust and Nonlinear Control , 29 (3) pp. 736-765. 10.1002/rnc.4366. Green open access

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Abstract

The introduction of electric braking via brake‐by‐wire systems in electric vehicles) has reduced the high transportation delays usually involved in conventional friction braking systems. This has facilitated the design of more efficient and advanced control schemes for antilock braking systems (ABSs). However, accurate estimation of the tire‐road friction coefficient, which cannot be measured directly, is required. This paper presents a review of existing estimation methods, focusing on sliding‐mode techniques, followed by the development of a novel friction estimation technique, which is used to design an efficient ABS control system. This is a novel slip‐based estimation method, which accommodates the coupling between the vehicle dynamics, wheel dynamics, and suspension dynamics in a cascaded structure. A higher‐order sliding‐mode observer–based scheme is designed, considering the nonlinear relationship between friction and slip. A first‐order sliding‐mode observer is also designed based on a purely linear relationship. A key feature of the proposed estimation schemes is the inclusion of road slope and the effective radius of the tire as an estimated state. These parameters impact significantly on the accuracy of slip and friction estimation. The performance of the proposed estimation schemes are validated and benchmarked against a Kalman filter (KF) by a series of simulation tests. It is demonstrated that the sliding‐mode observer paradigm is an important tool in developing the next generation ABS systems for electric vehicles.

Type: Article
Title: Estimation of road frictional force and wheel slip for effective antilock braking system (ABS) control
Open access status: An open access version is available from UCL Discovery
DOI: 10.1002/rnc.4366
Publisher version: https://doi.org/10.1002/rnc.4366
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
Keywords: ABS control, adaptive estimation, sliding‐mode observers
UCL classification: UCL
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng
URI: https://discovery.ucl.ac.uk/id/eprint/10059709
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