Control and estimation problems in antilock braking systems

Séminaire le 26 Avril 2019, 10h00 à CentraleSupelec (Gif-sur-Yvette) Salle du conseil du L2S - B4.40

Abstract: Introduced by Bosch in 1978, the antilock braking system (ABS) is nowadays one of the most important safety systems for wheeled vehicles. The ABS has two main objectives: to prevent the wheels from locking during heavy braking in order to maintain the stability and steerability of the vehicle, and to maximally exploit the tyre-road friction coefficient in order to achieve the shortest possible braking distance.

In this talk we will review the basics of the wheel dynamics and discuss three problems related to the ABS. First, we will address the estimation of the so-called extended braking stiffness, which is defined as the derivative of the friction coefficient between the tyre and the road. Next, using this estimation, we will reformulate the (control) objective of the ABS in terms of the extended braking stiffness and present a novel control algorithm for the ABS.

Finally: we will address the estimation of the wheel’s angular velocity and acceleration from the measurements of an incremental encoder with imperfections, a problem which is often overlooked in the literature and whose solution is essential for the operation of the ABS.

Bio: Missie Aguado was born in Mexico City in 1988. She received her B.Sc. degree in electric and electronic engineering in 2012, and her M.Sc. degree in control engineering in 2015, both with the highest honors from the National Autonomous University of Mexico (UNAM). She is currently working towards her PhD degree in automatic control in Univ. Paris-Saclay under the supervision of W. Pasillas-Lépine and Antonio Loría. Her research interests include nonlinear control and estimation with applications to wheeled vehicles and electrical motors.