Controle Preditivo da Frenagem de um Monociclo em Terreno Desconhecido
Keywords: NMPC, Braking Control, Anti-skid Control, Unicycle, Unknown Environment
AbstractBraking systems that prevent wheel locking are employed in both land and air vehicles. This work develops a control that avoids the locking of the wheels during a braking. For this purpose, a slip control was carried out for the case where there is only the longitudinal movement of the unicycle. The slip, calculated from the states (longitudinal speed of the vehicle and angular speed of the wheel), is compared to a reference slip, which is updated through the feedback of the states and torque. The control uses the Nonlinear Model Predictive Control (NMPC) strategy, considering the system restrictions. Finally, performance cost functions were calculated to validate the results obtained in the control.