Authors: Shibly A. Al-Samarraie; Mohsin N. Hamzah; Yasir K. Al-Nadawi
Addresses: Control and Systems Engineering Department, University of Technology, Baghdad, Iraq ' Mechanical Engineering Department, University of Technology, Baghdad, Iraq ' Control and Systems Engineering Department, University of Technology, Baghdad, Iraq
Abstract: An active braking system is a very vital electro-mechanical system, which greatly improves the safety of a vehicle in extreme circumstances since it can maximise the longitudinal tyre-road friction while keeping large lateral forces that ensure vehicle drivability. In this paper, the integral sliding mode control was applied for an optimised design of the vehicle ABS system. The controller objective was to maximise the deceleration of the braking force by forcing the slip ratio to attain the maximum value. According to the integral sliding mode control concept, the system state is initiated at the switching manifold, where the uncertainty and the disturbances are compensated during braking via a discontinuous control term that strongly exists in braking dynamics. This feature enabled to design a continuous controller named as the ideal control during sliding motion and from the first instant. Consequently, the braking action is optimised with the desired dynamic characteristics. The validity and applicability of the proposed controller are verified by the numerical simulations based on MATLAB/Simulink programs for simulating the ABS system under various road conditions.
Keywords: braking modelling; active braking systems; ABS; integral SMC; sliding mode control; vehicle control; controller design; braking force; numerical simulation; vehicle braking.
International Journal of Automation and Control, 2016 Vol.10 No.4, pp.356 - 374
Available online: 15 Sep 2016 *Full-text access for editors Access for subscribers Purchase this article Comment on this article