In this letter, a Force-based Model Predictive Control (F-MPC) scheme for braking systems is proposed. The use of longitudinal force information for slip tracking shows two main advantages: 1) the closed-loop system becomes robust to different grip conditions without the need of a friction model, 2) the optimization problem can be formulated as a quadratic program, suitable for real-time implementation. The approach is tested on a full-fledged vehicle simulator coupled with a nonlinear actuator calibrated on a real electro-hydraulic brake. A comparison with state-of-the-art solutions highlights better transient and tracking performance under both nominal and uncertain friction conditions.
No takes yet. Share an insight, caveat, or question.
Riva et al. (2022) studied this question.
Synapse has enriched 5 closely related papers on similar clinical questions. Consider them for comparative context: