Abstract
The control method for the Anti- lock braking system (ABS) of Wheel was studied. A quarter dynamic model of vehicle was given based on Magic formulation firstly, then ABS controller was developed based on ADRC with the aim at anticipant slippage. Simulation results were given at different conditions, includes representative road, road changed suddenly and parameters changed with time while braking. These results indicate that the controller based on ADRC ensures excellent longitudinal adhesion stability, and very powerful robustness under disturbance and parameters change.
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