Design and Analysis of an Autobraking System Controller for Autonomous Vehicles Under the Influence of Perturbation

In order to improve the control effect and robust performance of autobraking systems under overload, heat recession, and water recession, an autonomous vehicle of Chery is taken as a research subject. Parameter perturbation is investigated with a fourth dynamics perturbation model and brake perturbation model. Then, linear fractional transformations is applied to represent uncertainties and μ theory is used to design the controller of an autobraking system through D–K iteration. Simulation and autobraking system hardware in loop experiments are conducted to test the robustness of a μ controller compared with an H∞ controller. Simulation and experimental results show that the designed μ controller can reduce the impact of system parameter perturbation as well as external noise effectively, and has better robust performance than the H∞ controller.


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  • Accession Number: 01670401
  • Record Type: Publication
  • Files: TRIS
  • Created Date: Mar 22 2018 4:32PM