| dc.contributor | Acosta Lúa, C., Departamento de Ciencias Tecnológicas, Universidad de Guadalajara, Centro Universitario de la Ciénega, Avenida Universidad 1115Ocotlán, JAL, Mexico; Castillo Toledo, B., Centro de Investigación y de Estudios Avanzados (CINVESTAV) Del IPN, Unidad Guadalajara, Avenida CientíficaColonia El Bajío, Zapopan, JAL, Mexico; Di Gennaro, S., Department of Information Engineering, Computer Science and Mathematics, Center of Excellence DEWS, University of l'Aquila, Via G. Gronchi 18L'Aquila, Italy; Martinez-Gardea, M., Departamento de Ciencias Tecnológicas, Universidad de Guadalajara, Centro Universitario de la Ciénega, Avenida Universidad 1115Ocotlán, JAL, Mexico | |
| dc.description.abstract | The control of an antilock braking system is a difficult problem due to the existence of nonlinear dynamics and uncertainties of its characteristics. To overcome these issues, in this work, a dynamic nonlinear controller is proposed, based on a nonlinear observer. To evaluate its performance, this controller has been implemented on an ABS Laboratory setup, representing a quarter car model. The nonlinear observer reconstructs some of the state variables of the setup, assumed not measurable, to establish a fair benchmark for an ABS system of a real automobile. The dynamic controller ensures exponential convergence of the state estimation, as well as robustness with respect to parameter variations. © 2015 Cuauhtémoc Acosta Lúa et al. | |
