test_moissonnage_selune
type: Agent

Switched observers and input-delay compensation for anti-lock brake systems
type: Distribution
access URL: https://theses.hal.science/tel-00994114
format: HTML
issued: 2026-05-05T10:40:40.828374
modified: 2026-05-05T10:40:40.797548

Switched observers and input-delay compensation for anti-lock brake systems
type: Dataset
contact point: Organization
  fn: CCSD
keyword: observer-normal-form
keyword: automotive-control
keyword: input-delay-compensation
keyword: controle-automobile
keyword: systemes-dantiblocage-des-roues-abs
keyword: non-uniform-observability
keyword: forme-normale-dobservabilite
keyword: switched-linear-systems
keyword: output-tracking
keyword: observer-design
keyword: theses
keyword: systemes-commutes-lineaires
keyword: conception-de-lobservateur
keyword: suivi-de-la-sortie
keyword: physcondcm-genphysics-physicscondensed-matter-cond-matother-cond-matother
keyword: stabilite-de-lyapunov
keyword: lyapunov-stability
keyword: systemes-linearisables-par-retour-restreint
keyword: restricted-feedback-linearizable-systems
keyword: infoeu-reposemanticsdoctoralthesis
keyword: anti-lock-brake-systems-abs
keyword: observabilite-non-uniforme
landing page: https://theses.hal.science/tel-00994114
description: Many control algorithms for ABS systems have been proposed in the literature since the introduction of this equipment by Bosch in 1978. In general, one can divide these control algorithms into two different types: those based on a regulation logic with wheel acceleration thresholds that are used by most commercial ABS systems; and those based on wheel slip control that are preferred in the large majority of academic algorithms. Each approach has its pros and cons [Shida 2010]. Oversimplifying, one can say that the strength of the first ones is their robustness; while that of the latter ones their short braking distances (on dry grounds) and their absence of limit cycles. At the midpoint of this industry/academy dichotomy, based on the concept of extended braking stiffness (XBS), a quite different class of ABS control strategies has been proposed by several researchers (see, e.g., [Sugai 1999] and [Ono 2003]). This concept combines the advantages from both the industrial and academic approaches. Nevertheless, since the slope of the tyre characteristic is not directly measurable, it introduces the question of real-time XBS estimation. The first part of this thesis is devoted to the study of this estimation problem and to a generalization of the proposed technique to a larger class of systems. From the technological point of view, the design of ABS control systems is highly dependent on the ABS system characteristics and actuator performance. Current ABS control algorithms on passenger cars, for instance the Bosch ABS algorithm, are based on heuristics that are deeply associated to the hydraulic nature of the actuator. An interesting observation is that they seem to work properly only in the presence of a specific delay coming from the hydraulic actuation [Gerard 2012]. For brake systems that have different delays compared to those of hydraulic actuators, like electric in-wheel motors (with a smaller delay) or pneumatic trailer brakes (with a bigger delay), they might …
identifier: NNT: 2014PA112049
issued: 2026-05-05T10:40:40.822437
language: en
modified: 2026-05-05T10:40:40.822443