Title: Multiple model adaptive backstepping control for antilock braking system based on LuGre dynamic tyre model

Authors: Hongxiao Yu; Zhiquan Qi; Jianmin Duan; Saied Taheri; Yuefeng Ma

Addresses: Beijing Key Laboratory of Traffic, College of Transportation, Beijing University of Technology, 100 Ping Le Yuan, Chaoyang District, Beijing 100124, China ' School of Mechanical Engineering, Beijing Institute of Technology, 5 South Zhongguancun Street, Haidian District, Beijing 100081, China ' Beijing Key Laboratory of Traffic, College of Transportation, Beijing University of Technology, 100 Ping Le Yuan, Chaoyang District, Beijing 100124, China ' Mechanical Engineering Department, Center for Tire Research (CenTiRe) Virginia Polytechnic Institute and State University, 100C Randolph Hall, Blacksburg, VA 24060, USA ' School of Mechanical Engineering, Beijing Institute of Technology, 5 South Zhongguancun Street, Haidian District, Beijing 100081, China

Abstract: Vehicle stability control systems play an essential role in helping the driver maintain vehicle control. This paper addresses a control scheme for antilock braking system (ABS). In this control scheme, first, a quarter model of the vehicle's longitudinal dynamic system is developed, which includes the LuGre tyre/road dynamic friction model. Then, a non-linear controller is developed using the multiple models adaptive controls (MMAC) methodology. The control system models are divided into high adhesion, middle adhesion, low adhesion fixed models and an adaptive model. Backstepping and adaptive backstepping controller are designed for fixed and adaptive models, respectively. The index function is used to switch the control rule by searching the minimum index value. Our proposed ABS controller's stability is proved by the Lyapunov stability theorem. Finally, the results of the simulation in the different surface conditions show that MMAC is better than other controllers and achieves great and robust braking performance.

Keywords: multiple models; adaptive control; backstepping control; LuGre model; ABS; antilock braking systems; dynamic modelling; tyre models; vehicle stability control; vehicle control; tyre-road friction; nonlinear control; controller design; Lyapunov stability theorem; simulation; braking performance.

DOI: 10.1504/IJVD.2015.073120

International Journal of Vehicle Design, 2015 Vol.69 No.1/2/3/4, pp.168 - 184

Received: 30 Aug 2014
Accepted: 13 Mar 2015
Published online: 20 Nov 2015 *

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