Abstract
In this study, a new approach named as conjugate boundary method is presented to design the control law of anti–skid brake systems (ABS). Through phase plane analysis, the nonlinear dynamics of ABS are investigated by using a piecewise linear tyre force model. The new concepts of equilibrium brake torque and conjugate boundaries are introduced to analyse the existence and stability of limit cycles, and the global slip tendency in ABS dynamics. Finally, some selected criteria from Guntur and Ouwerkerk's studies are analysed. From the analysis and simulation results, the rules for designing the threshold values for these criteria are suggested and the evaluation of these criteria are also given.
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