Robust force control for brake-by-wire actuators via scenario optimization
Autor: | Giorgio Riva, Dario Nava, Simone Formentin, Sergio M. Savaresi |
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Rok vydání: | 2020 |
Předmět: |
0209 industrial biotechnology
Computer science 020208 electrical & electronic engineering PID controller 02 engineering and technology Clamping Nonlinear system 020901 industrial engineering & automation Control and Systems Engineering Control theory 0202 electrical engineering electronic engineering information engineering Scenario optimization Robust control Actuator Brake-by-wire |
Zdroj: | IFAC-PapersOnLine. 53:1-6 |
ISSN: | 2405-8963 |
DOI: | 10.1016/j.ifacol.2020.12.025 |
Popis: | Clamping force control in Electro Mechanical Brakes (EMBs) is a challenging task, mainly due to the nonlinear dynamics of the system and the uncertainty affecting its physical parameters. In this paper, a robust tuning of a PID control loop for an EMB is proposed. First, a control-relevant linear model of the system is derived. Then, the optimal parameters of the controller are tuned by solving a convex pole-placement problem and probabilistic robustness guarantees are provided according to the scenario theory. Finally, the performance of the proposed strategy is assessed on a complex nonlinear simulator of the EMB dynamics, and compared with the state of the art approach for robust control of EMBs. |
Databáze: | OpenAIRE |
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