Adaptive sliding mode control for vehicle brake systems with fuzzy composition Online publication date: Mon, 03-Nov-2008
by Jung Hua Yang, Cheng Che Yang
International Journal of Modelling, Identification and Control (IJMIC), Vol. 4, No. 2, 2008
Abstract: This paper addresses the problem of controlling a vehicle motion system by continuously adjusting the brake torque. A full-order model which consists of the vehicle motion subsystem, wheel dynamics, and servo-valve hydraulic actuator is under consideration. Based on the varying dynamic structure of the system, the controllers are designed for two cases. The first case, i.e., when the slip rate is small, considers the trajectory tracking control for stopping of vehicle motion, and an adaptive control scheme is developed. In the second case, i.e., when the slip rate is large, rapid reduction of slip rate is deemed as the control target so that an adaptive sliding mode control is proposed to achieve such a goal. Finally, due to unknown changing condition, a composite form of the above-mentioned controllers is then constructed by applying the fuzzy composition concept. Asymptotic stability of the overall system is confirmed via Lyapunov stability theorem and is also demonstrated by computer simulations.
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