中文摘要：

这个工作为一个新奇电镀物品水力的刹车(EHB ) 介绍一个综合追踪压力的控制器系统考虑磨擦和水力的骚乱。到这个目的，一个 EHB 系统的一个数学模型，由致动器和水力的分系统组成，为描述系统的基本动力学并且设计控制器被导出。由于传感器不确和测量噪音，一个 Kalman 过滤器被构造估计为产生的推杆击需要主汽缸压力。改进追踪压力的精确性，一个线性磨擦模型被线性化非线性的 Tustin 磨擦模型，和 unmodeled 磨擦骚乱产生被假定未知却围住。一个滑动模式控制器为补偿磨擦骚乱被设计，并且控制器的稳定性用 Lyapunov 方法被调查。建议综合控制器的性能与测试站台与 EHB 原型装备了的 hardware-in-the-loop (HIL ) 被评估。测试结果证明有建议综合控制器的 EHB 系统不仅完成好追踪压力的性能，而且维持坚韧性到磨擦骚乱。

英文摘要：

This work presents an integrated pressure-tracking controller for a novel electro-hydraulic brake（EHB） system considering friction and hydraulic disturbances. To this end, a mathematical model of an EHB system, consisting of actuator and hydraulic sub-systems, is derived for describing the fundamental dynamics of the system and designing the controller. Due to sensor inaccuracy and measurement noise, a Kalman filter is constructed to estimate push rod stroke for generating desired master cylinder pressure. To improve pressure-tracking accuracy, a linear friction model is generated by linearizing the nonlinear Tustin friction model, and the unmodeled friction disturbances are assumed unknown but bounded. A sliding mode controller is designed for compensating friction disturbances, and the stability of the controller is investigated using the Lyapunov method. The performance of the proposed integrated controller is evaluated with a hardware-in-the-loop（HIL） test platform equipped with the EHB prototype. The test results demonstrate that the EHB system with the proposed integrated controller not only achieves good pressure-tracking performance, but also maintains robustness to friction disturbances.