Title: Sliding mode wheel slip controller for an antilock braking system

Authors: A.B. Will, S. Hui, S.H. Zak

Addresses: General Motors NAO Electrical center, M/C 480-111-S20, 30200 Mound Rd. 111, Warren, MI 48090-9010, USA. ' Department of Mathematical Sciences, San Diego State University, San Diego, CA 92182, USA. ' School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN 47907-1285, USA

Abstract: A nonlinear control system that combines a sliding mode based optimiser and a proportional-plus-integral-plus-derivative (PID) controller is presented for a vehicle antilock brake system. The sliding mode optimiser performs an on-line search for the optimal wheel slip that corresponds to the vehicle|s maximum deceleration. The PID controller and the sliding mode optimiser are coupled to regulate the vehicle|s brake torque to control the wheel slip to its optimal value. The performance of the proposed control schemes is illustrated with simulation examples.

Keywords: antilock braking systems; ABS; nonlinear control; PID control; sliding mode control; SMC; sliding mode optimiser; wheel slip; vehicle design; maximum deceleration; brake torque; simulation.

DOI: 10.1504/IJVD.1998.062115

International Journal of Vehicle Design, 1998 Vol.19 No.4, pp.523 - 539

Published online: 29 May 2014 *

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