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Sliding Mode Control of the Vehicle ABS with a Disturbance Observer for Model Uncertainties  

Hwang Jin-Kwon (우석대학교 전기전자공학과)
Song Chul-Ki (경상대학교 기계항공공학부, 공학연구원(ERI))
Publication Information
Journal of the Korean Society for Precision Engineering / v.23, no.4, 2006 , pp. 44-51 More about this Journal
Abstract
This paper addresses sliding mode control of the anti-lock braking system (ABS) with a disturbance observer for model uncertainties such as vehicle parameter variation, un-modeled dynamics, and external disturbances. By using a nominal vehicle model, a sliding mode controller is designed to achieve a desired wheel slip ratio for ABS control. To compensate the model uncertainties, a disturbance observer is introduced with the help of a transfer function of a hydraulic brake dynamics. A proposed sliding mode controller with a disturbance observer is evaluated through simulations for model uncertainties. The simulation results show that the disturbance observer can enhance performances of sliding mode control for ABS.
Keywords
Anti-lock braking system (ABS); Sliding mode control; Disturbance observer; Model uncertainty; Wheel slip ratio;
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