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スライディングモード制御によるアンチロックブレーキシステム
スライディングモード制御によるアンチロックブレーキシステム
Antilock Braking System Using Sliding Mode Control
横山, 誠
岩田, 義明
片寄, 真二
今村, 政道
新部, 誠
日本機械学会 / 本文データは学会の許諾に基づくCiNiiからの複製である
Automobile
Nonlinear Control
Robust Control
Antilock Braking System
Sliding Mode Control
Disturbance Observer
Current control algorithms for antilock braking system (ABS) are mostly table-driven and should be frequently modified through various experiments, because the braking dynamics are highly nonlinear with system uncertaintieS. In this paper, a new control algorithm is proposed for ABS using the theory of sliding mode control based on a linearized system model, which represents nonlinearities as external disturbances. The proposed sliding mode controller guarantees a highly robust performance against large variations in the system parameters and disturbances. Furthermore, a road surface estimation scheme using a disturbance observer is proposed in order to determine the optimal reference input. Simulation results reveal the advantages of the proposed method in comparison with conventional linear controllers.
日本機械学会
1997-07
jpn
journal article
http://hdl.handle.net/10191/5828
https://niigata-u.repo.nii.ac.jp/records/3838
http://ci.nii.ac.jp/naid/110002385111
AN00187463
03875024
日本機械学会論文集. C編
日本機械学会論文集. C編
63
611
2302
2307
https://niigata-u.repo.nii.ac.jp/record/3838/files/9_0126.pdf
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408.4 kB
2019-07-30