Tire Slip H_∞ Control for Optimal Braking Depending on Road Condition

Area of Science:

• Vehicle Dynamics and Control
• Automotive Engineering
• Robotics

Background:

• Tire slip control is crucial for vehicle safety systems like ABS, TCS, and ESP.
• The nonlinear nature of tire-road interactions and varying road conditions complicate robust controller design.
• Optimal braking performance is directly influenced by the tire-road friction coefficient.

Purpose of the Study:

• To develop an H∞ controller for tire slip control.
• To maximize vehicle braking forces by adapting to different road conditions.
• To improve the robustness and performance of vehicle dynamics control systems.

Main Methods:

• Design of an H∞ controller for tire slip control.
• Utilizing the CarSim software for vehicular dynamics simulations.
• Implementing a control strategy that adjusts slip ratio reference based on the friction coefficient.

Main Results:

• The proposed H∞ controller effectively manages tire slip according to road conditions.
• The controller achieved a small reference error in tire slip tracking.
• Demonstrated good transient response during simulations across various tested road conditions.

Conclusions:

• The H∞ controller provides an effective solution for tire slip control.
• Adapting the slip ratio reference based on the friction coefficient maximizes braking performance.
• The developed controller enhances vehicle stability and braking efficiency on diverse road surfaces.