Adaptive global sliding mode control strategy for the vehicle antilock braking systems

Jing, Yuanwei; Mao, Yan-e; Dimirovski, Georgi M.; Zheng, Yadan; Zhang, Siying

doi:10.1109/acc.2009.5160357

Cited by 16 publications

(2 citation statements)

References 13 publications

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“…Although SMC possesses robust characteristics for addressing system nonlinearities, its inherent drawbacks include high-frequency oscillation and chattering. Consequently, SMC has been combined with other approaches to overcome these limitations [21][22][23]. Within the domain of robust control methodologies, optimal H ∞ controllers have been designed to handle uncertainties in the presence of disturbances, noise, and changes in system parameters [24][25][26].…”

Section: Introductionmentioning

confidence: 99%

Design and Verification of Offline Robust Model Predictive Controller for Wheel Slip Control in ABS Brakes

2023

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Wheel slip control is a critical aspect of vehicle safety systems, notably the antilock braking system (ABS). Designing a robust controller for the ABS faces the challenge of accommodating its strong nonlinear behavior across varying road conditions and parameters. To ensure optimal performance during braking and prevent skidding or lock-up, the ideal wheel slip value can be determined from the peak of the tire–road friction curve and maintained throughout the braking process. Among various control approaches, model predictive control (MPC) demonstrates superior performance and robustness. However, online MPC implementation encounters significant computational burdens and real-time limitations, particularly when dealing with larger problem sizes. To address these issues, this study introduces an offline robust model predictive control (RMPC) methodology. The proposed approach is based on the robust asymptotically stable invariant ellipsoid methodology, which employs linear matrix inequalities (LMIs) to calculate a collection of invariant state feedback laws associated with a sequence of nested invariant stable ellipsoids. Simulation results indicate a significant reduction in computational burden with the offline RMPC approach compared to online implementation, while effectively tracking the desired wheel slip reference values and system constraints. Moreover, the offline RMPC design aligns well with the online MPC design and verifies its effectiveness in practice.

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Section: Introductionmentioning

confidence: 99%

Design and Verification of Offline Robust Model Predictive Controller for Wheel Slip Control in ABS Brakes

2023

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“…Another modified SMC method proposed by Jiang et al [15] is the moving sliding surface, based on global sliding mode control (GSMC) strategy. In this method, unlike in the conventional SMC, the sliding surface moves to the desired sliding surface from the initial condition, thus achieving fast tracking of the desired slip.…”

Section: Introductionmentioning

confidence: 99%

Non-Linear Slip Control for Anti-Lock Braking System

John

Pedro²

2012

760: 761: 762: 763: The IASTED 2012 African Conferences

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The Anti-lock braking system (ABS) is an active safety device in road vehicles, which during hard braking maximizes the braking force between the tyre and the road irrespective of the road condition. This is accomplished by regulating the wheel slip around its optimum value. Due to the high non-linearity of the tyre and road interaction, and uncertainties from vehicle dynamics,linear controllers will not suffice. This paper, therefore proposes a more robust non-linear control design using input-output state feedback linearization approach. To enhance the robustness of the non-linear controller, an integral feedback method was employed. The stability of the controller is analysed using a Lyapunov method. To demonstrate the robustness of the proposed method, simulations were conducted for two different road conditions. The results of the proposed controller were found to be superior to results obtained using a standard feedback linearisation controller.

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An adaptive chattering-free PID sliding mode control based on dynamic sliding manifolds for a class of uncertain nonlinear systems

Mobayen

2015

Nonlinear Dyn

102

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Adaptive global sliding mode control strategy for the vehicle antilock braking systems

Cited by 16 publications

References 13 publications

Design and Verification of Offline Robust Model Predictive Controller for Wheel Slip Control in ABS Brakes

Design and Verification of Offline Robust Model Predictive Controller for Wheel Slip Control in ABS Brakes

Non-Linear Slip Control for Anti-Lock Braking System

An adaptive chattering-free PID sliding mode control based on dynamic sliding manifolds for a class of uncertain nonlinear systems

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