| Summary: | 碩士 === 國立臺灣大學 === 電機工程學研究所 === 97 === This research develops an adaptive critic braking control system to optimize the traction and yaw control performance of by-wire braking cars. Underlying techniques are mainly the dual heuristic programming adaptive critic design, the self-organizing radial basis function network, and the Magic-Formula tire model. The adaptive critic braking control system is characterized by integrating the functions of antilock brake control, traction control, electronic brake-force distribution, and electronic stability program. The generalized growing-pruning mechanism of radial basis function networks and the adaptive critic design enable the system pursuing optimal performance. This thesis shows the detailed design of the adaptive critic braking control system. A simulation system involving an adaptive critic braking controller and a prototype car is developed. Simulation results show that, under variable test conditions, adaptive critic braking control system is significantly effective in optimizing traction and yaw performance.
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