Abstract
The antilock braking system (ABS) is an electromechanical device whose controller is challenging to design because of its nonlinear dynamics and parameter uncertainties. In this paper, an adaptive controller is considered under the assumption that the friction coefficient is unknown. A modified high-order sliding-mode controller is designed to enhance the controller performance. The controller ensures tracking of the desired reference and identifies the unknown parameter, despite parametric variations acting on the real system. The stability proof is done using the Lyapunov approach. Some numerical and experimental tests evaluate the controller on a mechatronic system that represents a quarter-car model.
Highlights
Claudia Carolina Vaca Garcıa,1 Luis Adrian Ferre Covantes,1 Antonio Navarrete Guzman,2,3 Claudia Veronica Vera Vaca,4 and Cuauhtemoc Acosta Lua 1,5
Introduction e antilock braking system (ABS) in the actual vehicles is a mechatronic system that helps the driver to maintain control of the vehicle during emergency braking by preventing the wheels from lock-up. e ABS is designed to increase the braking efficiency and maintain the vehicle’s maneuverability, reducing the driving instability, obtaining maximum wheel grip on the surface while the vehicle is braking, and decreasing the braking distance
An adaptive controller using the modified high-order sliding mode (HOSM) is designed for the ABS laboratory setup. e controllers ensure tracking of the desired reference, even in uncertainties in the friction coefficient and external perturbations
Summary
Claudia Carolina Vaca Garcıa ,1 Luis Adrian Ferre Covantes ,1 Antonio Navarrete Guzman ,2,3 Claudia Veronica Vera Vaca ,4 and Cuauhtemoc Acosta Lua 1,5. An adaptive controller is considered under the assumption that the friction coefficient is unknown. The ABS laboratory setup, manufactured by Inteco Ltd., has been used to test the proposed controller.
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