Brake System Modeling and Control

MOU308 provides solutions to two common brake control problems: variable brake torque gain and brake rotor-induced brake torque oscillations. The adaptive control solution for the variable brake torque gain problem is shown to work experimentally, and the algorithm to eliminate brake torque oscillations is demonstrated in simulation. In addition, documentation is provided for differential braking hardware, wheel speed measurement hardware, and a strain-based brake torque sensor that were constructed to test these algorithms.