Abstract
This paper investigates the effect of sliding surface design on the performance of a sliding mode control (SMC) based Antilock Braking System (ABS) including: a brake torque limitation, actuator time delay, and tire force build up. Two different sliding surface designs commonly used in ABS were compared and an alternative sliding surface design that improves the convergence speed and oscillation damping around the target slip has been proposed. An 8 degree of freedom nonlinear vehicle model was developed for this study and the effects of brake system parameter variations such as a brake actuator time constant, target slip ratios, and an abrupt road friction change were also assessed.
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