Near-time-optimal tracking controller design for an automotive electromechanical brake
AuthorLee, CF; Manzie, C
Source TitleProceedings of the Institution of Mechanical Engineers Part I: Journal of Systems and Control Engineering
PublisherSAGE PUBLICATIONS LTD
Document TypeJournal Article
CitationsLee, C. F. & Manzie, C. (2012). Near-time-optimal tracking controller design for an automotive electromechanical brake. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 226 (I4), pp.537-549. https://doi.org/10.1177/0959651811422164.
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C1 - Journal Articles Refereed
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.
KeywordsControl Systems; Robotics and Automation; Machinery and Equipment not elsewhere classified
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