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Tire slip H∞ control for optimal braking depending on road condition

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dc.affiliation.areaUC3M. Área de Ingeniería Mecánicaes
dc.affiliation.dptoUC3M. Departamento de Ingeniería Mecánicaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Advanced Vehicle Dynamics and Mechatronic Systems - VEDYMECes
dc.contributor.authorMelendez Useros, Miguel
dc.contributor.authorJimenez Salas, Manuel
dc.contributor.authorViadero Monasterio, Fernando
dc.contributor.authorLópez Boada, Beatriz
dc.contributor.funderMinisterio de Ciencia e Innovación (España)es
dc.date.accessioned2023-02-10T08:50:44Z
dc.date.available2023-02-10T08:50:44Z
dc.date.issued2023-02-01
dc.descriptionThis article belongs to the Special Issue Human Machine Interaction in Automated Vehicles.en
dc.description.abstractTire slip control is one of the most critical topics in vehicle dynamics control, being the basis of systems such the Anti-lock Braking System (ABS), Traction Control System (TCS) or Electronic Stability Program (ESP). The highly nonlinear behavior of tire–road contact makes it challenging to design robust controllers able to find a dynamic stable solution in different working conditions. Furthermore, road conditions greatly affect the braking performance of vehicles, being lower on slippery roads than on roads with a high tire friction coefficient. For this reason, by knowing the value of this coefficient, it is possible to change the slip ratio tracking reference of the tires in order to obtain the optimal braking performance. In this paper, an H∞ controller is proposed to deal with the tire slip control problem and maximize the braking forces depending on the road condition. Simulations are carried out in the vehicular dynamics simulator software CarSim. The proposed controller is able to make the tire slip follow a given reference based on the friction coefficient for the different tested road conditions, resulting in a small reference error and good transient response.en
dc.description.sponsorshipFunded by the FEDER/Ministry of Science and Innovation-Agencia Estatal de Investigacion (AEI) of the Government of Spain through the project "IoT4SafeDriving. Intelligent Driving Safety System under an IoT platform with low-cost devices [RTI2018-095143-B-C21]"en
dc.format.extent18
dc.identifier.bibliographicCitationMeléndez-Useros, M., Jiménez-Salas, M., Viadero-Monasterio, F. & Boada, B. L. (2023). Tire Slip H∞ Control for Optimal Braking Depending on Road Condition. Sensors, 23(3), 1417.en
dc.identifier.doihttps://doi.org/10.3390/s23031417
dc.identifier.issn1424-3210
dc.identifier.publicationfirstpage1
dc.identifier.publicationissue3
dc.identifier.publicationlastpage18
dc.identifier.publicationtitleSensorsen
dc.identifier.publicationvolume23
dc.identifier.urihttps://hdl.handle.net/10016/36528
dc.identifier.uxxiAR/0000032010
dc.language.isoengen
dc.publisherMDPI
dc.relation.projectIDGobierno de España. RTI2018-095143-B-C21es
dc.rights© 2023 by the authors.en
dc.rightsAtribución 3.0 España*
dc.rights.accessRightsopen accessen
dc.rights.urihttp://creativecommons.org/licenses/by/3.0/es/*
dc.subject.ecienciaIngeniería Mecánicaes
dc.subject.otherTire slip controlen
dc.subject.otherVehicle dynamicsen
dc.subject.otherH infiniteen
dc.subject.otherControlen
dc.subject.otherAnti-lock brake systemen
dc.titleTire slip H∞ control for optimal braking depending on road conditionen
dc.typeresearch article*
dc.type.hasVersionVoR*
dspace.entity.typePublication
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