Adaptive Fractional-Order LQR Control for Electronic Wedge Brake with Real-Time Friction Coefficient Estimation

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.