Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 2005.06a
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- Pages.523-530
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- 2005
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- 2005-8446(pISSN)
Sliding Mode Control of the ABS with a Disturbance Observer
관측기를 가진 ABS 슬라이딩 모드 제어법
Abstract
This paper addresses sliding mode control (SMC) of the anti-lock braking system (ABS) with a compensator of model uncertainties such as vehicle parameter variation, unmodeled dynamics, and external disturbances. A sliding mode controller (SMC) is designed with a nominal vehicle model to achieve a desired wheel slip ratio. A disturbance observer (DOB) is introduced to compensate the model uncertainties and is designed with a transfer function of a hydraulic brake dynamics. Through simulations on the model uncertainties, it is verified that the sliding mode control with the DOB can give the simulation results better than the sliding mode control without the DOB.
Keywords
- anti-lock braking system(ABS);
- sliding mode control;
- disturbance observer;
- model uncertainty;
- wheel slip ratio