Abstract
A state-constrained, robust near-time-optimal clamp force tracking controller for an automotive electromechanical brake is presented. The proposed hybrid control structure consists of two switching control laws that handle tracking of rate-bounded references in the presence of state constraints. The responsive tracking utilizes an approximated time-optimal switching curve as a sliding manifold, while state constraints are handled by a linearizing–stabilizing feedback controller. The hybrid controller is proven to asymptotically track the reference in the presence of unknown but bounded time-varying disturbances and modelling errors. Implementation and validation of the proposed controller on a prototype electromechanical brake enables favourable performance comparisons with existing servo control architectures to be obtained.
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