Self-tuning control strategy for antilock braking systems

One of the main issues of any control strategy for braking systems is to face the many uncertainties due to the strong spread of the system's parameters: road conditions, hydraulic actuators, tire behaviour, etc. Moreover, the need for cheap components limits both the number of sensors and the quality of the actuators. This paper proposes a self-tuning control strategy for braking systems. The proposed control strategy is based on two light assumptions: 1) the tire longitudinal force as a function of the tire slip has always a unique minimum; 2) the hydraulic actuators can increase, decrease and hold the braking pressure within a limited delay. Only the measure of the wheel rotational speed and the estimate of the wheel angular acceleration are required. The control strategy is tested by simulation experiments