Document Type

Conference Proceeding

Publication Date

1997

Publication Title

IEEE Conference on Intelligent Transportation Systems

Publisher

Institute of Electrical and Electronics Engineers

First page number:

391

Last page number:

396

Abstract

In automatic highway systems, a faster response and a robust braking system are crucial part of the overall automatic control of the vehicle. This paper describes electromagnetic brakes as a supplementary system for regular brakes. This system provides better time for emergency situations, and in general keeps the friction brake working longer and safer. A modified mathematical model for electromagnetic brakes is proposed to describe their static characteristics (angular speed versus brake torque). The performance of the modified mathematical model is better than the other three models available in the literature. To control the brakes, a robust sliding mode controller is designed to maintain the wheel slip at a given value. Simulations show that the controller designed is capable of controlling the vehicle with parameter deviations and disturbances.

Keywords

Automobile driving — Braking; Automatic control; Automated guided vehicle systems; Magnetic brakes; Motor vehicles — Brakes; Robust control; Sliding mode control

Comments

1997 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

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