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Adaptive-Robust Friction Compensation in a Hybrid Brake-by-Wire Actuator

de Castro, Ricardo and Todeschini, F. and Araujo, R.E. and Savaresi, S.M. and Corno, M. and Freitas, D. (2014) Adaptive-Robust Friction Compensation in a Hybrid Brake-by-Wire Actuator. Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, 228 (10), pp. 769-786. Sage Publications. DOI: 10.1177/0959651813507562 ISSN 0959-6518

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Official URL: http://pii.sagepub.com/content/early/2013/10/28/0959651813507562.abstract

Abstract

This work focuses on the development of a pressure-loop controller for a hybrid brake-by-wire system, composed of a hydraulic link and an electro-mechanical actuator. Towards this goal, we will start by constructing a reduced model that is capable of capturing the fundamental dynamics of the actuator, which is particularly useful for control design purposes. Motivated by the large friction disturbances that affect the system, we also investigate linear-in-the-parameter models suitable for (online) model-based friction compensation. More specifically, results from the theory of function approximation, together with optimization techniques, are explored to approximate the Stribeck friction model through a linear-in-the-parameter model. This new linear-in-the-parameter model is then employed in the design of a control law for tracking the braking pressure of the hybrid brake-by-wire. The main features of this controller are the robustness to parametric uncertainties, thanks to the inclusion of a switching-σ adaptive mechanism, and the attenuation of non-parametric disturbances with a continuous sliding mode action. The stability and robustness properties of the closed-loop system are investigated with the help of the Lyapunov method. Finally, experimental tests demonstrate the effectiveness of the proposed approach and its ability to handle disturbances.

Item URL in elib:https://elib.dlr.de/86912/
Document Type:Article
Title:Adaptive-Robust Friction Compensation in a Hybrid Brake-by-Wire Actuator
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
de Castro, RicardoRicardo.DeCastro (at) dlr.deUNSPECIFIED
Todeschini, F.UNSPECIFIEDUNSPECIFIED
Araujo, R.E.UNSPECIFIEDUNSPECIFIED
Savaresi, S.M.UNSPECIFIEDUNSPECIFIED
Corno, M.UNSPECIFIEDUNSPECIFIED
Freitas, D.UNSPECIFIEDUNSPECIFIED
Date:2014
Journal or Publication Title:Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:228
DOI :10.1177/0959651813507562
Page Range:pp. 769-786
Publisher:Sage Publications
ISSN:0959-6518
Status:Published
Keywords:Brake-by-wire, friction modelling, friction compensation, adaptive control, robust control
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Project Fahrzeugintelligenz und Fahrwerk (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: de Castro, Ricardo
Deposited On:20 Jan 2014 14:43
Last Modified:08 Mar 2018 18:33

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