Adaptive control of vehicle braking using an electromechanical drive

Abstract

The paper addresses enhanced braking efficiency in electromechanically driven vehicle wheels on pneumatic tires through the robust Simple Adaptive Control method. The sliding friction is modeled as dry, semi-dry, and fluid friction, accounting for uneven motion, self-oscillations, and elastic properties of the pneumatic tire. A robust simple adaptive control method is proposed, utilizing signal-parametric adaptation algorithms with implicit reference models. The control objective aims to ensure the convergence of a quadratic performance index within a finite time. The control algorithm combines parametric and signal components, with simulations demonstrating its efficiency.