Synthesis of a Model-based Tire Slip Controller

Abstract: The Anti-lock Braking System (ABS) is an important component of a complex steering system for the modern car. In the latest generation of brake-by-wire systems, the performance requirements on the ABS have changed. The controllers have to be able to maintain a specified tire slip for each wheel during braking. This thesis proposes a design model and based on that a hybrid controller that regulates the tire-slip. Simulation and test results are presented. A design method for robust PID controllers is presented. Robustness is ensured with respect to a cone bounded static nonlinearity acting on the plant. Additional constraints on maximum sensitivity are also considered. The design procedure has been successfully applied in the synthesis of the proposed hybrid ABS controller. Trajectory convergence for a class of nonlinear systems is analyzed. The servo problem for piecewise linear systems is treated. Convex optimization is used to describe the behavior of system trajectories of a piecewise linear system with respect to some input signals.