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Abstract In the context of antilock braking systems (ABS), we present a two-phase hybrid control algorithm based on the tyre extended braking stiffness (XBS), that is, on the slope of… Click to show full abstract
Abstract In the context of antilock braking systems (ABS), we present a two-phase hybrid control algorithm based on the tyre extended braking stiffness (XBS), that is, on the slope of the tyre-road friction coefficient with respect to the wheel slip. Because the XBS cannot be directly measured, a switched observer is used to estimate it. With the proposed hybrid algorithm, the closed-loop trajectories of the system satisfy the conditions required for the observer to correctly estimate the XBS. Moreover, the braking distances are shorter than those obtained using a hybrid algorithm based on wheel deceleration thresholds.
Journal Title: IFAC-PapersOnLine
Year Published: 2019
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