Abstract
This paper addresses the challenges in hydraulic pressure control for an electrohydraulic brake (EHB), considering nonlinearities and uncertainties such as friction and parameter variations. The proposed solution is a robust integral backstepping control (IBC) strategy, which incorporates motor current dynamics and the LuGre friction model. A nonlinear observer is introduced to estimate the unmeasurable internal state of the LuGre model. The IBC is applied to pressure control for the EHB, resulting in improved steady-state behavior and robustness. The paper concludes with a global stability analysis using Lyapunov theory and performance validation through simulation using MATLAB/Simulink.
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