State and Disturbance Estimation Based Sliding Mode Control for Antilock Braking Systems

This article proposes a slip control method for antilock braking systems (ABSs) with an unmeasurable state and mismatched uncertainty. In this method, both state and disturbances are estimated and used in sliding mode control to force the slip to track the desired value. The model considered is a tw...

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Bibliographic Details
Published in2021 6th International Conference for Convergence in Technology (I2CT) pp. 1 - 6
Main Authors Wanaskar, Vijayraj, Shendge, P. D., Phadke, S. B.
Format Conference Proceeding
LanguageEnglish
Published IEEE 02.04.2021
Subjects
Analytical models
Antilock braking systems (ABSs)
Friction
Mathematical model
Roads
Sliding mode control (SMC)
Stability analysis
State and disturbance observer
Torque measurement
Uncertainty
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Summary:This article proposes a slip control method for antilock braking systems (ABSs) with an unmeasurable state and mismatched uncertainty. In this method, both state and disturbances are estimated and used in sliding mode control to force the slip to track the desired value. The model considered is a two-axle vehicle with load transfer effects and actuator dynamics. The proposed method does not require sensors for measurements of the tire-road friction coefficient and brake torques. The control is free from the chatter and robust to external disturbances. The controller's stability is proved, and its performance is assessed analytically. Extensive simulation is performed using MATLAB/Simulink considering different road conditions to verify the analysis.
DOI:10.1109/I2CT51068.2021.9418165