Adaptive global sliding mode control strategy for the vehicle antilock braking systems

Abstract

In this paper, the state equation for the dynamics of quarter-car is established, and a stable robust sliding mode control law based on RBF neural network is presented for the vehicle slip ratio control. In addition, a moving sliding surface based on global sliding mode control is presented. Unlike the conventional sliding mode control, the moving sliding surface moves to the desired sliding surface from the initial condition and thus fast tracking can be obtained. The strategy can eliminate the reaching phase from conventional sliding mode control, and guarantee the system robustness during the whole control process. The drawback of control chattering occurred in the classical sliding mode control can be alleviated with the proposed control scheme. Simulations are performed to demonstrate the effectiveness of the proposed controller.