Integral high order sliding mode control of a brake system

The aim of this paper is to present the design of a robust sliding mode control scheme for a vehicle system which consists of active brake systems. The proposed control strategy is based on the combination of high order sliding mode control methods and integral sliding mode control, taking advantage of the block control principle. The brake controller induces the antilock brake system feature by means of tracking the slip rate of the car, improving the stability in the braking process and preventing the vehicle from skidding.Cinvesta

Sliding mode control for Antilock Brake System

A Sliding Mode (SM) Block Control is proposed to control an Antilock Brake System (ABS). The control problem is to achieve reference tracking for the slip rate, such that, the friction between tyre and road surface is good enough to control the car. The closed-loop system is robust in 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 behavior of the ABS under variations in the road friction.CINVESTAVUniversidad de Guadalajar

Integral Nested Sliding Mode Control for Antilock Brake System

An integral nested Sliding Mode (SM) Control is proposed for an Antilock Brake System (ABS) control problem by employing integral SM and nested SM concepts. This controller has robustness against matched and unmatched perturbations, and the capability to reduce the sliding functions gains. Application to an ABS is presented as a simulationConsejo Nacional de Ciencia y TecnologíaLomonosov Moscow State UniversityUniversidad Autónoma Metropolitana-AzcapotzalcoUniversidad de Guadalajar

Antilock braking control using robust control approach

The aims of this study are to establish the mathematical model and the robust control technique for an Antilock Braking System (ABS). The ABS have been developed to reduce tendency of wheel lock up and to improve vehicle control during sudden braking. The ABS work by maintaining the wheel slip to a desired level so that maximum tractive force and maximum vehicle deceleration is obtained, thus reducing the vehicle stopping distance. A quarter vehicle model undergoing straightline braking maneuver, tire dynamics and hydraulic brake dynamics mathematical model are developed to represent the ABS model. The established mathematical model shows the ABS dynamics exhibits strong nonlinear characteristics. Thus, Sliding Mode Control which is a robust control technique is proposed in this study to regulate the wheel slip at the desired value depending on the road surface. The mathematical derivations proved the designed controller satisfy the stability requirement. Extensive simulation study is performed to verify the effectiveness of the designed controller and the result shows the designed controller able to maintain the wheel slip at the desired value and reducing the stopping distanc

Dynamic Control Applied to a Laboratory Antilock Braking System

The control of an antilock braking system is a difficult problem due to the existence of nonlinear dynamics and uncertainties of its characteristics. To overcome these issues, in this work, a dynamic nonlinear controller is proposed, based on a nonlinear observer. To evaluate its performance, this controller has been implemented on an ABS Laboratory setup, representing a quarter car model. The nonlinear observer reconstructs some of the state variables of the setup, assumed not measurable, to establish a fair benchmark for an ABS system of a real automobile. The dynamic controller ensures exponential convergence of the state estimation, as well as robustness with respect to parameter variations

Identification of Intelligent Controls in Developing Anti-Lock Braking System

This paper presents about the development of an Antilock Braking System (ABS) using quarter vehicle model and a control structure is developed to represents an ABS and conventional braking model. Different type of controllers is proposed to develop the ABS model. Antilock braking system (ABS) is an important part in vehicle system to produce additional safety for driver. This system is known as one of the automobile’s active safety. In general, Antilock braking systems have been developed to reduce tendency for wheel lock and improve vehicle control during sudden braking especially on slippery road surfaces. In this paper, to deal with the strong nonlinearity in the design of ABS controller, an intelligent controller has been identified. The controllers such as PID and Fuzzy Logic are proposed to control the stopping distance and longitudinal slip of the wheel. Comparison results between these two controllers generated using Matlab SIMULINK

An ABS control logic based on wheel force measurement

The paper presents an anti-lock braking system (ABS) control logic based on the measurement of the longitudinal forces at the hub bearings. The availability of force information allows to design a logic that does not rely on the estimation of the tyre-road friction coefficient, since it continuously tries to exploit the maximum longitudinal tyre force. The logic is designed by means of computer simulation and then tested on a specific hardware in the loop test bench: the experimental results confirm that measured wheel force can lead to a significant improvement of the ABS performances in terms of stopping distance also in the presence of road with variable friction coefficien

Modelling and Development of Linear and Nonlinear Intelligent Controllers for Anti-lock Braking Systems (ABS)

 نظام  منع انغلاق المكابح (ABS)  يستخدم كجزء مهم في المركبات الحديثة لمنع الاطار من الغلق بعد تعشيق المكابح. الاداء العام لنظام سيطرة  منع انغلاق المكابح مستفيدا من كون النظام خطياً او غير خطي موضحاً في هذا البحث. من اجل تصميم نظام السيطرة، تم اشتقاق نموذج ديناميكي لاخطي لمانع الانزلاق استناداً على طبيعه نظامه الفيزيائي. النموذج الديناميكي متكون من عدة معادلات تحكم عمل النظام الميكانيكي.  نظامين سيطرة محتلفين تم استخدامهم للسيطرة على اداء  منع انغلاق المكابح، الاول تم الاستفادة من المسيطر الخطي نوع (PID) مع استخدام تقنية تحويل النظام من اللاخطي الى الخطي حول نقطة معينه للسيطرة على النظام اللاخطي. بينما تم استخدام المسيطر اللاخطي الثاني نوع (discrete time) للسيطرة على النظام الديناميكي اللاخطي بشكل مباشر. هذه الدراسة اعطت معلومات اضافية حول كيفية محاكاة هذين المسيطرين، و اعطت افضلية واضحة للمسيطر التقليدي (PID) على المسيطر نوع (discrete time) في السيطرة و التحكم بنظام منع انغلاق المكابح.Antilock braking systems (ABS) are utilized as a part of advanced autos to keep the vehicle’s wheels from deadlocking when the brakes are connected. The control performance of ABS utilizing linear and nonlinear controls is cleared up in this research. In order to design the control system of ABS a nonlinear dynamic model of the antilock braking systems is derived relying upon its physical system. The dynamic model contains set of equations valid for simulation and control of the mechanical framework. Two different controllers technique is proposed to control the behaviors of ABS. The first one utilized the PID controller with linearized technique around specific point to control the nonlinear system, while the second one used the nonlinear discrete time controller to control the nonlinear mathematical model directly. This investigation contributes to more additional information for the simulation of the two controllers, and demonstrates a clear and reasonable advantage of the classical PID controller on the nonlinear discrete time controller in control the antilock braking system