Abstract
The antilock braking system (ABS) is a representative technology to improve the safety of hard braking in automobiles. The slip rate control has been a challenging issue due to the complicated characteristics of tires and the strong nonlinearity of the system. In this paper, a novel adaptive finite-time controller for ABS is developed to improve braking performance. Different from the current control strategies for ABS, the extended finite-time stability theory and state constraint are comprehensively considered in the proposed control strategy. The extended finite-time stability theory is applied to deal with the system uncertainties, by which the convergence of slip rate tracking error is achieved. And the asymmetric tan-type barrier Lyapunov function (BLF) is used to ensure that the wheel slip ratio is within a smaller and more stable area. Finally, according to the simulation and experiment, compared with the existing BLF controller, a faster convergence rate, better robustness and anti-disturbance performance of ABS can be achieved with the proposed strategy.
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