ADVANCED CONTROLLER DESIGN FOR ACTIVE BRAKING SYSTEMS

Abstract

This paper presents the synthesis of an advanced controller for an active braking system on trucks, by combining the H_∞ method with the Linear Parameter Varying system (LPV). The forward velocity and the normalized load transfer at the rear axle are considered as the two varying parameters. The grid-based LPV approach is used to synthesize the H_∞/LPV controller. In order to adapt the active braking system to the risk of the vehicle rollover, the parameter dependent weighting function for the lateral acceleration is used as the most important weighting function. The simulation results in the frequency domain show that the use of the H_∞/LPV active brake control system has significantly reduced the transfer function magnitude of the normalized load transfer at the two axles, which demonstrates the effectiveness of the proposed method.