Active Braking Control System Design: The D $^{\bf 2}$ -IBC Approach

摘要: In modern road vehicles, active braking control systems are crucial elements to ensure safety and lateral stability. Unfortunately, the wheel slip dynamics is highly nonlinear, online estimation of road–tire conditions still a challenging open-research problem. These facts make it difficult devise system that reliable in any possible situation without being too conservative. this paper, we propose data-driven inversion-based approach overcome above issues. The method relies on 2-DOF architecture, with linear controller nonlinear parallel, both designed using only experimental data. effectiveness proposed against state-of-the-art shown by means an extensive simulation campaign. A validation test commercial full-fledged multibody simulator for two-wheeled vehicles also provided.