Abstract

� Abstract— A sliding mode controller (SMC) with a disturbance observer (DOB) is developed for control of the anti-lock brake system (ABS) for passenger vehicles. Hydraulic brake dynamics as well as vehicle model parameter variation are considered in the developed control method. A SMC is designed to attain a desired wheel slip ratio without consideration of the hydraulic brake dynamics. A DOB is inserted into the SMC to reduce effects of un-modeled dynamics of the hydraulic brake system and the model parameter variation. The proposed ABS control shows good results of simulations on ABS brake dynamics, model parameter variation, and external disturbances..

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