Investigation of Sliding-Surface Design on the Performance of Sliding Mode Controller in Antilock Braking Systems

Sliding mode control (SMC) has widely been employed in the development of a wheel-slip controller because of its effectiveness in applications for nonlinear systems as well as its performance robustness on parametric and modeling uncertainties. The design of a sliding surface strongly influences the...

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Bibliographic Details
Published in:IEEE transactions on vehicular technology 2008-03, Vol.57 (2), p.747-759
Main Authors: SHIM, Taehyun, CHANG, Sehyun, LEE, Seok
Format: Article
Language:English
Subjects:
ABS resins
Actuators
Antilock braking system (ABS)
Applied sciences
Automotive engineering
Brakes
Braking systems
Computer science
control theory
systems
Control systems
Control theory. Systems
Design engineering
Electrical engineering. Electrical power engineering
Electrical machines
Exact sciences and technology
Force control
Friction
Miscellaneous
Nonlinear control systems
Nonlinear systems
Regulation and control
Roads
Robotics
Robust control
Sheet molding compounds
Sliding mode control
sliding mode control (SMC)
sliding-surface design
Switching and signalling
Systems, networks and services of telecommunications
Telecommunications
Telecommunications and information theory
Uncertainty
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Summary:Sliding mode control (SMC) has widely been employed in the development of a wheel-slip controller because of its effectiveness in applications for nonlinear systems as well as its performance robustness on parametric and modeling uncertainties. The design of a sliding surface strongly influences the overall behavior of the SMC system due to the discontinuous switching of control force in the vicinity of a sliding surface that produces chattering. This paper investigates the effects of sliding-surface design on the performance of an SMC-based antilock braking system (ABS), including a brake-torque limitation, an actuator time delay, and a tire-force buildup. Different sliding-surface designs commonly used in ABS were compared, and an alternative sliding-surface design that improves convergence speed and oscillation damping around the target slip has been proposed. An 8-degree-of-freedom (dof) nonlinear vehicle model was developed for this paper, and the effects of brake-system parameter variations, such as a brake actuator time constant, target slip ratios, an abrupt road friction change, and road friction noises, were also assessed.
ISSN:0018-9545
1939-9359
DOI:10.1109/TVT.2007.905391