Abstract
AbstractThis paper presents the formulation of a slip-control model for purposes of performing slip tracking of target slip. System modeling is performed to develop a braking model incorporating an active suspension. Linearisation of the highly non-linear multi-input multi-output developed Anti-lock Braking System model is performed by way of input-output feedback linearisation. Feedback linearisation is shown to provide a transformed linear ABS model while ensuring a verifiable stable state transformation. Lie algebra is used to find the stability of the internal dynamics through zero dynamics analysis. Simulation results demonstrate the validity of the approach along with the development of a stabilising condition for the linearisation approach.
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