Linear time-varying flatness-based control of Anti-lock Brake System (ABS)

Mohamed Ben Abdallah (1) , Mounir Ayadi (1) , Frédéric Rotella (2) , Mohamed Benrejeb (1)

1 LARA - Laboratoire d'Automatique et de Recherche Appliquée
2 LGP - Laboratoire Génie de Production

In this paper, a flatness-based control strategy for linear time-varying systems is proposed in order to track a desired trajectory. The flatness-based control is designed by using two observers: a reduced order observer with a constant estimator error gain and an exact observer for designing a polynomial two-degrees-of-freedom controller without resolving Bezout equation in time varying framework. The proposed approach is illustrated with the control of an Anti-lock Brake System (ABS) and led to track a given trajectory for the wheel slip.

Mots clés: Linear time-varying systems; Trajectory linearization - Flatness; Path tracking; Exact observer; Polynomial controller; Reduced order observer.

Domaines: Automatique / Robotique

Mohamed Ben Abdallah, Mounir Ayadi, Frédéric Rotella, Mohamed Benrejeb. Linear time-varying flatness-based control of Anti-lock Brake System (ABS). 2012 9th International Multi-Conference on Systems, Signals and Devices (SSD), Mar 2012, Chemnitz, Germany. pp.51-56. ⟨hal-02945949⟩