A control scheme for emergency braking of vehicles is designed. The scheme utilizes a LuGre dynamic friction model to estimate the tire/road friction. The control system output is the pressure to the braking system, and is calculated using only the wheel angular speed information. The controller utilizes estimated state feedback control to achieve near maximum deceleration. The state observer gain is calculated by using linear matrix inequality (LMI) techniques. This system has two advantages when compared with an antilock braking system (ABS), it generates less chattering during braking and produces a source of a priori information regarding safe spacing.
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