Robust control for an electro-mechanical anti-lock braking system: the CRONE approach

Abstract

This paper presents the design of an electro-mechanical anti-lock braking system for a small passenger vehicle. Parametric uncertainties, nonlinearities and disturbances are taken into account in the design of a robust fractional order controller (CRONE). The same control synthesis requirements are applied in the design of an H ∞ controller for comparison purposes. Simulations including noised measurements and degraded road adhesion show the advantages of the CRONE controller being less sensitive to noise when compared the to the H ∞ controller.