Implementation of a Robust Electric Brake Actuator Design Based on H-infinity Control Theory

  • Gábor Péter Department of Control Engineering and Information Technology, Faculty of Electrical Engineering and Informatics, Budapest University of Technology and Economics, H-1521 Budapest, P.O.B. 91, Hungary
  • György Max Department of Control Engineering and Information Technology, Faculty of Electrical Engineering and Informatics, Budapest University of Technology and Economics, H-1521 Budapest, P.O.B. 91, Hungary
  • Bálint Kiss Department of Control Engineering and Information Technology, Faculty of Electrical Engineering and Informatics, Budapest University of Technology and Economics, H-1521 Budapest, P.O.B. 91, Hungary

Abstract

This paper deals with the robust control system design and implementation of a brake actuator for a smart car. To deliver robust performance, an H∞ controller had been chosen for the task. This allows excellent disturbance rejection while requiring low computational needs. In order to realize the controller a nominal model of the system has been identified, then, the parameter uncertainties were taken into account to find the stabilizing controller. The brake system consists of a low level H∞ controller sustaining robustness, a mid-level serial compensator for effective setpoint tracking and a high level supervisory control logic to deliver a reliable system. The implementation was tested and verified on a test bench using rapid prototyping tools and HIL methods.

Keywords: robust control, H-infinity norm, model uncertainty
Published online
2018-05-03
How to Cite
Péter, G., Max, G. and Kiss, B. “Implementation of a Robust Electric Brake Actuator Design Based on H-infinity Control Theory”, Periodica Polytechnica Transportation Engineering. doi: https://doi.org/10.3311/PPtr.12104.
Section
Articles