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Existence,stability and robustness analysis of limit cycles in hybrid anti-lock braking systems |
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| Authors: | Mara Tanelli Gustavo Osorio Mario di Bernardo Sergio M. Savaresi Alessandro Astolfi |
| Affiliation: | 1. Dipartimento di Elettronica e Informazione , Politecnico di Milano , Milano, Italy;2. Dipartimento di Ingegneria dell'Informazione e Metodi Matematici , Universitá degli studi di Bergamo , Dalmine (BG), Italy tanelli@elet.polimi.it;4. Dipartimento di Informatica e Sistemistica , Universitá di Napoli , Napoli, Italy;5. Departamento de Ingenieria Eléctrica, Electrónica y Computación , Universidad Nacional de Colombia Sede Manizales , Manizales, Colombia, SA;6. Department of Engineering Mathematics , University of Bristol , Bristol, UK;7. Dipartimento di Elettronica e Informazione , Politecnico di Milano , Milano, Italy;8. Department of Electrical and Electronic Engineering , Imperial College London , London, UK;9. Dipartimento di Informatica, Sistemi e Produzione , Universitá di Roma Tor Vergata , Roma, Italy |
| Abstract: | We investigate the stability and robustness properties of anti-lock braking systems (ABS) based on actuators with on/off dynamics. Namely, we propose a hybrid ABS controller which gives rise to an asymptotically stable limit cycle on the wheel slip. The proposed approach allows to derive exact information on the maximum allowable uncertainty in the measured variables which guarantee the cycle stability. Moreover, a structural stability analysis is performed with respect to different road conditions and to the actuator rate limit. |
| Keywords: | vehicle dynamics automotive control limit cycles hybrid systems non-smooth dynamics |