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An explicit nonlinear model predictive ABS controller for electro-hydraulic braking systems

Tavernini, Davide, Vacca, Fabio, Metzler, Mathias, Savitski, Dzmitry, Ivanov, Valentin, Gruber, Patrick, Hartavi Karci, Ahu Ece, Dhaens, Miguel and Sorniotti, Aldo (2019) An explicit nonlinear model predictive ABS controller for electro-hydraulic braking systems IEEE Transactions on Industrial Electronics.

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This study addresses the development and Hardware-in-the-Loop (HiL) testing of an explicit nonlinear model predictive controller (eNMPC) for an anti-lock braking system (ABS) for passenger cars, actuated through an electro-hydraulic braking (EHB) unit. The control structure includes a compensation strategy to guard against performance degradation due to actuation dead times, identified through experimental tests. The eNMPC is run on an automotive rapid control prototyping unit, which shows its real-time capability with comfortable margin. A validated high-fidelity vehicle simulation model is used for the assessment of the ABS on a HiL rig equipped with the braking system hardware. The eNMPC is tested in 7 emergency braking scenarios, and its performance is benchmarked against a proportional integral derivative (PID) controller. The eNMPC results show: i) the control system robustness with respect to variations of tire-road friction condition and initial vehicle speed; and ii) a consistent and significant improvement of the stopping distance and wheel slip reference tracking, with respect to the vehicle with the PID ABS.

Item Type: Article
Divisions : Faculty of Engineering and Physical Sciences > Mechanical Engineering Sciences
Authors :
Savitski, Dzmitry
Ivanov, Valentin
Hartavi Karci, Ahu Ece
Dhaens, Miguel
Date : 20 May 2019
Funders : European Union's Horizon 2020
DOI : 10.1109/TIE.2019.2916387
Grant Title : EVE project
Copyright Disclaimer : © 2019 IEEE. Translations and content mining are permitted for academic research only. Personal use is also permitted, but republication/redistribution requires IEEE permission. See for more information.
Uncontrolled Keywords : Anti-lock braking system; Wheel slip control; Explicit nonlinear model predictive control; Hardware-in-the-loop; Electro-hydraulic braking system
Depositing User : Clive Harris
Date Deposited : 30 May 2019 14:21
Last Modified : 30 May 2019 14:21

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