Title: Robust nested sliding mode integral control for anti-lock brake system

Authors: Juan Diego Sánchez-Torres; Alexander G. Loukianov; Marcos I. Galicia; Jorge Rivera Domínguez

Addresses: Laboratory of Automatic Control, CINVESTAV Unidad Guadalajara, Zapopan, Jalisco 45015, México ' Laboratory of Automatic Control, CINVESTAV Unidad Guadalajara, Zapopan, Jalisco 45015, México ' Laboratory of Automatic Control, CINVESTAV Unidad Guadalajara, Zapopan, Jalisco 45015, México ' Centro Universitario de Ciencias Exactas e Ingenierías de la Universidad de Guadalajara, Guadalajara, Jalisco 44430, México

Abstract: An integral nested Sliding Mode (SM) block control is proposed to control an Anti-lock Brake System (ABS) by employing integral SM and nested SM concepts. The control problem is to achieve reference tracking for the slip rate, in such a way that the friction between the tyre and the road surface is good enough to control the car. The closed-loop system is robust in the presence of matched and unmatched perturbations. To show the performance of the proposed control strategy, a simulation study is carried on, where results show good behaviour of the ABS under variations in the road friction.

Keywords: ABS; anti-lock braking system; SMC; sliding mode control; integral control; vehicle control; robust control; reference tracking; slip rate; simulation; road friction; vehicle brakes.

DOI: 10.1504/IJVD.2013.052721

International Journal of Vehicle Design, 2013 Vol.62 No.2/3/4, pp.188 - 205

Accepted: 05 Oct 2012
Published online: 18 Mar 2013 *

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