Title: Fuzzy fractional PID gain controller for antilock braking system using an electronic wedge brake mechanism

Authors: Fauzi Ahmad; Saiful Amri Mazlan; Khisbullah Hudha; Hishammudin Jamaluddin; Hairi Zamzuri

Addresses: Vehicle System Engineering Research Laboratory, Malaysia-Japan International Institute of Technology, Universiti Teknologi Malaysia (UTM), 54100 Jalan Semarak, Kuala Lumpur, Malaysia; Faculty of Mechanical Engineering, Universiti Teknikal Malaysia Melaka (UTeM), 76100 Durian Tunggal, Melaka, Malaysia ' Vehicle System Engineering Research Laboratory, Malaysia-Japan International Institute of Technology, Universiti Teknologi Malaysia (UTM), 54100 Jalan Semarak, Kuala Lumpur, Malaysia ' Department of Mechanical Engineering, Faculty of Engineering, Universiti Pertahanan Nasional Malaysia (UPNM), Kem Sungai Besi, 57000 Kuala Lumpur, Malaysia ' Faculty of Engineering and Information Technology, Southern University College of Malaysia, 81300 Skudai, Johor, Malaysia ' Vehicle System Engineering Research Laboratory, Malaysia-Japan International Institute of Technology, Universiti Teknologi Malaysia (UTM), 54100 Jalan Semarak, Kuala Lumpur, Malaysia

Abstract: This paper focuses on the design of a fuzzy fractional Proportional-Integral-Derivative (PID) controller. The controller which is based on the conventional PID controller is modified to be P^1−α I^1−β D^1−γ with the objective to make the controller more flexible and robust to the changes in input and the parameters. In this control structure, the fuzzy logic control acts as the tuner for the parameters α, β and γ, so that the overall controller parameter can be varied and converge better to the changes in a system. The designed fuzzy fractional PID controller is applied to a validated antilock braking system model using an electronic wedge brake system as the actuator. Numerous numerical simulations and comparisons with other fractional PID/conventional PID controllers show that the fuzzy fractional PID controller can not only ensure good control performance with respect to reference input but also improve the system robustness with respect to model uncertainties.

Keywords: fuzzy logic controller; fractional PID controller; fuzzy fractional PID controller; antilock braking system; electronic wedge brake.

DOI: 10.1504/IJVS.2018.094154

International Journal of Vehicle Safety, 2018 Vol.10 No.2, pp.97 - 121

Accepted: 27 Jun 2016
Published online: 20 Aug 2018 *

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