Self-Optimizing Brake Control Design for Commercial Vehicles 2001-01-2731

This paper focuses on the design of a self-optimizing nonlinear controller for a “simplified” pneumatic brake system in the continuous time domain. The specific controller under investigation periodically excites the brake system in the direction towards the maximum tire forces without apriori knowledge on the initial direction of motion. The nonlinearity and complexity of pneumatic systems (as opposed to hydraulics) introduce a higher level challenge. The developed controller employs multiple observers to estimate tire forces in a highly unpredictable environment with bounded parameter uncertainties. The controller explicit inputs are the wheel speeds and chamber pressures. A longitudinal accelerometer is also recommended.