A new sliding-mode controller design methodology with derivative switching function for anti-lock brake system

Abstract

In this study, anti-lock brake system control using sliding-mode controller is investigated. Different alternatives for the switching function and the sliding surface, involved in the structure of the sliding-mode controller, are explored. It was aimed to reach a better controller performance with less chattering and robustness to actuator imperfections. Regarding applicability, tire force response was modeled as a uniformly distributed uncertain parameter during controller designs. Controllers are simulated for both constant and varying coefficient of friction roads, with optimized design parameters. The effects of actuator first-order dynamics and transportation delay, which come up in practical implementations, were considered. The sliding-mode control structure which employs derivative switching function with integral sliding surface is originally proposed in this study. It is found to produce less chattering and provide more robustness, which could not be achieved side by side using former designs.

Development of on-line neural network based adaptive fractional-order sliding mode robust controller on electromechanically actuated engine cooling system

“…Among the mentioned control structure, SMC is robust control structure to explain uncertainties and unmodeled system dynamics by applying a switching function force to the sliding switching manifold. 9,10 In recent years, the SMC was widely developed for parameter uncertainties of complex and chaotic systems such as Markovian jump systems, which is a class of hybrid systems. 11 In real-time application, SMC is designed in different types.…”

Two-Time-Scale Braking Controller Design With Sliding Mode for Electric Vehicles Over CAN

“…Braking system is of great importance to the ground vehicles [1], which directly determines the active safety performance. From traditional internal combustion engines vehicles [2] to electric vehicles including battery electric vehicle (BEV) [3], [4] and hybrid electric vehicle (HEV) [5], [6], and to the latest autonomous vehicles [7], braking control has always been a hot research area.…”

“…Braking controller designs that based on fuzzy sliding mode were proposed in [28] and [29]. De Castro et al [30] proposed a sliding mode control (SMC) approach based on field programmable gate array technology, while Okyay et al [1] proposed an SMC structure employing derivative switching function with integral sliding surface. The SMC is widely used in braking systems to overcome the system uncertainties [31], which has high robustness to the external disturbance [32], sensor noise [33] and modeling error [34].…”