A gain-switched self-optimizer for braking controller

An emergency braking controller is developed with improved operation characteristics near the maximum friction zone. The methodology is based on self-seeking a-priori unknown optimum operation point to maximize a performance function representing the optimal behavior of the considered dynamic system. Sliding mode with uncertain direction of control vector approach is utilized in the algorithm. An adaptive variable gain is utilized in the algorithm to improve its performance. Via the variable gain, both fast convergence to the a-priori unknown optimum operation point and reduced magnitude of oscillations in the braking moment inputs resulting less aggressive control action are achieved.