A high performance pneumatic braking system for heavy vehicles

Tyre curve estimation in slip-controlled braking

“…Similar observers were applied by Choi et al, 19 by Ribbens and Fredricks 20 and by Ribbens et al, 21 but it was shown by Miller and Cebon 22 that these observers are susceptible to parametric errors such as brake gain variations. The tyre forces in both the lateral direction and the longitudinal direction were estimated with a sliding-mode observer by Cadiou et al 23 The estimator produced plausible force-time histories, but the results showed significant scatter when plotted on slipfriction curves.…”

“…Further discussion about this observer can be found in the paper by Miller and Cebon 22 and the thesis by Miller. 40 The output of the observer is used in the surface identification algorithm that is described next (see Figure 1).…”

Torque blending and wheel slip control in EVs with in-wheel motors

“…is relatively small and tends to be neglected in the majority of the slip control designs reported in the literature [3,9,21,[30][31][32][33][34]. However, if the control law incorporates adaptive mechanisms to deal with the parameter uncertainty in θ (which is the case in this work), the presence of these small disturbances may introduce parameter drifts and other stability issues, as discussed in [35].…”

Inertial delay control based Multiple Sliding Surface controller for anti-lock braking system with second order actuator

“…The actuator dynamics is considered in series with plant and as a result system become mismatched system. An extensive study on the wheel slip control of heavy vehicles with second order actuator dynamics has been taken in [2], [3]. This paper too consider a generalized second order model for ABS.…”