Adaptive Fractional-Order LQR Control for Electronic Wedge Brake with Real-Time Friction Coefficient Estimation
Soomro M. Hassan M.K. Abro G.E.M. Tahir N.M.
2025Institute of Electrical and Electronics Engineers Inc.
IEEE Symposium on Computer Applications and Industrial Electronics, ISCAIE
2025Issue 2025451 - 456 pp.
This study offers a comparative examination of the Linear Quadratic Regulator (LQR) and Fractional Order LQR (FOLQR) controllers utilised in the Electronic Wedge Brake (EWB) system. The study combines full-order and reducedorder observer designs to improve trajectory tracking and system stabilisation. The EWB system is modelled dynamically by EulerLagrange equations, creating a multi-input multi-output (MIMO) architecture. Both LQR and FOLQR controllers, in conjunction with observers, estimate unmeasured states utilising system models and available data. Simulation results indicate that FOLQR surpasses LQR in tracking precision and stability, guaranteeing resilient real-time control of the EWB system. This paper presents an adaptive control method that reacts dynamically to variations in the friction coefficient, hence improving brake reliability and robustness. A method for real-time determination of the friction coefficient is integrated, facilitating accurate monitoring of braking conditions and enhancing system adaptability. The findings provide significant insights into observer-based control design for advanced brake systems, providing improved performance, stability, and reliability in practical applications.
Electronic Wedge Brake (EWB) and Friction coefficient , Fractional order , Full-order Observer , Linear quadratic regulator
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Universiti Putra Malaysia, Faculty of Engineering, Department of Electrical and Electronic Engineering, Selangor, Serdang, Malaysia
King Fahd University of Petroleum and Minerals (KFUPM), IRC for Aviation and Space Exploration (IRC-ASE), Dhahran, 31261, Saudi Arabia
School of Electrical Engineering, College of Engineering, Universiti Teknologi MARA (UiTM), Shah Alam, Malaysia
International Information Technology University (IITU), Department of Cybersecurity, Almaty, Kazakhstan
Universiti Putra Malaysia
King Fahd University of Petroleum and Minerals (KFUPM)
School of Electrical Engineering
International Information Technology University (IITU)
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