Abstract
Anti-lock Braking System (ABS) is used in automobiles to prevent slipping and locking of wheels after the brakes are applied. Its control is a rather complicated problem due to its strongly nonlinear and uncertain characteristics. The aim of this paper is to investigate the wheel slip control of the ground vehicle, comprising two new strategies. The first strategy is the Sliding Mode Controller (SMC) and the second one is the Fuzzy Sliding Mode Controller (FSMC), which is a combination of fuzzy logic and sliding mode, to ensure the stability of the closed-loop system and remove the chattering phenomenon introduced by classical sliding mode control. The obtained simulation results reveal the efficiency of the proposed technique for various initial road conditions.
Highlights
Anti-lock brake system (ABS) is generally utilized in road vehicles
ABS control is influenced by the nonlinear behavior of the dynamics of the brake and other factors such as the type of road surface, tire pressure, vehicle mass, etc. because the required wheel slip is continuously changing [1]
Several solutions have been proposed, such as the introduction of a transition band around the sliding surface [1011] or Fuzzy-Sliding Mode Control (FSMC) which is a combination of fuzzy control and sliding mode control
Summary
Anti-lock brake system (ABS) is generally utilized in road vehicles. To diminish product cost, standard ABS utilizes wheel speed sensors to distinguish angular velocities, which isn't sufficient to directly obtain the wheel slip required by the control unit, yet can be utilized to compute the reference slip proportions with estimated wheel precise speeds and the evaluated vehicle speed. The system is suffering from parametric uncertainties, and is subjected to external disturbances from the environment leading to the emergence of many difficulties in the design of controllers for ABS This leads to the requirement of a controller which will be capable of dealing with these uncertainties and nonlinearities. The presence of the sign functions in the control law, known as the Variable Structure Controller (VSC) causes a phenomenon of chatter that can excite high frequency and can damage the system [7,8,9] To overcome this drawback, several solutions have been proposed, such as the introduction of a transition band around the sliding surface [1011] or Fuzzy-Sliding Mode Control (FSMC) which is a combination of fuzzy control and sliding mode control. The performance of the proposed FSMC is assessed through digital simulations for varying road surface conditions
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