Benchmarking of Predictive Hybrid Braking Control Algorithms

Abstract

This article compares the performance of three predictive braking control algorithms for electric vehicles with hybrid braking actuators, composed of friction brakes and electric motors. First, a cascaded controller consisting of a scheduling wheel slip controller and a subordinate model predictive control allocation is presented. Second, a model predictive control method is developed to centralize the cascaded controller to a single-loop controller. Third, a robust model predictive control method is applied, which additionally handles plant disturbances relying on the constraint tightening approach. It is shown that the single-loop controller can improve the tracking performance compared to the cascaded controller under nominal and disturbed (mu-step) braking scenarios at the limit of tire adhesion.