In this paper, a Force-based Model Predictive Control (F-MPC) scheme for braking systems is proposed. The use of longitudinal force information for slip tracking shows two main advantages: 1) the closed-loop system becomes robust to different grip conditions without the need of a friction model, 2) the optimization problem can be formulated as a quadratic program, suitable for real-time implementation. The approach is tested on a full-fledged vehicle simulator coupled with a nonlinear actuator calibrated on a real electro-hydraulic brake. A comparison with state-of-the-art solutions highlights better transient and tracking performance under both nominal and uncertain friction conditions.

Model predictive control of high-performance braking systems: a force-based approach

Riva G.;Formentin S.;Corno M.;Savaresi S. M.
2022-01-01

Abstract

In this paper, a Force-based Model Predictive Control (F-MPC) scheme for braking systems is proposed. The use of longitudinal force information for slip tracking shows two main advantages: 1) the closed-loop system becomes robust to different grip conditions without the need of a friction model, 2) the optimization problem can be formulated as a quadratic program, suitable for real-time implementation. The approach is tested on a full-fledged vehicle simulator coupled with a nonlinear actuator calibrated on a real electro-hydraulic brake. A comparison with state-of-the-art solutions highlights better transient and tracking performance under both nominal and uncertain friction conditions.
2022
Actuators
Automotive control
Delays
Force
Mathematical models
Predictive control for linear systems.
Predictive models
Torque
Wheels
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1208228
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