Abstract
Extremum seeking control can search the optimal slip rate of the antilock braking system of a vehicle through a high-frequency sinusoidal excitation signal. However, because of the bandwidth limitation of the braking actuator, the search speed of the optimal slip rate decreases and the stability of the extremum seeking control system becomes worse. To search and control the optimal slip rate, an improved nonlinear predictive control strategy enhanced by fractional order extremum seeking control is proposed for the vehicle antilock braking system. First, the nonlinear dynamic model of the braking system is established. Then, nonlinear prediction control is designed with the prediction of the slip rate response based on the nonlinear model to achieve slip rate control. Using fractional order calculus, a fractional extremum seeking controller is proposed to search for the optimal slip rate. Nonlinear predictive control integrated with fractional extremum seeking control is proposed to achieve the function of vehicle antilock braking. Finally, the effectiveness of the proposed method is verified by simulating the vehicle antilock braking system under different road conditions. The result shows that by considering the actuator available bandwidth, the proposed fractional order extremum seeking control can improve the search speed of the optimal slip rate compared with traditional integer order extremum seeking control. The proposed integrated controller achieves wheel slip rate optimal control regardless of the road conditions.
Highlights
With the development of the automobile industry, automobile safety requirements have risen, especially the braking performance at high speeds [1]–[3]
We propose to use fractional order extremum seeking control (FOESC) to search for the optimal slip rate of the
SIMULATION RESULTS To verify the effectiveness of the integrated control of nonlinear predictive control (NPC) enhanced by FOESC, the antilock braking system (ABS) simulation and comparison analysis of NPC enhanced by FOESC and integer order extremum seeking control (IOESC), which are hereafter referred to as FOESC and IOESC, were performed on a single road and a changing road
Summary
With the development of the automobile industry, automobile safety requirements have risen, especially the braking performance at high speeds [1]–[3]. With the development of new energy vehicles and autonomous vehicles, the technology of the brake-by-wire system has been greatly developed [6], [7]. The associate editor coordinating the review of this manuscript and approving it for publication was Choon Ki Ahn. of traditional vehicles and the ABS performance of new energy vehicles and autonomous vehicles. The ABS has been widely used in automobiles, designing an ABS controller with better performance has remained a challenge until now [8]. The SMC method was widely used in control engineering because of its potential for handling the nonlinearity and to achieve the inherent
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