Design of nonlinear robust proportional controller for active braking system

الملخص EN

This work presents nonlinear proportional feedback controller design for the active braking system.

The controller objective is to maximize the deceleration braking force by forcing the slip ratio to attain the maximum value, where a magic formula is utilized to model the friction force to slip ratio for various road conditions.

The validity of the proposed controller is proved, first, based on Liapunov function approach taking into consideration the uncertainty in system model.

Then, the simulation results using MATLAB / Simulink showed the effectiveness of the proposed nonlinear controller in reducing the vehicle velocity to the desired velocity (5 km / hr) in a minimal period of time in presence of model uncertainty and for various road conditions.