In this paper, a sliding mode control methodology is implemented for the ABS control problem. Tire-road adhesion coefficient is taken as an uncertain parameter within known limits. This allows designing a robust sliding mode controller which does not require utilization of road coefficient of adhesion information, which is difficult to measure. As an improvement over previous studies, the sliding plane is formed to include both integral and derivative terms of the slip ratio error rather than only one of them. A design routine was identified in which the integral term, the derivative term and the relay action replaced by saturation compensate for each other’s drawbacks. Simulations were carried out using a quarter car model, where hydraulic components were assumed to introduce an additional first order dynamics due to hydraulic delay. Results show that, reference tracking performance and stability benefits of the integral term, which allowed for a more flexible relay term, could be used without causing oscillations. Conversely, possible instability at low speeds caused by the derivative term could be prevented by the relaxation of the relay term by means of saturation. As a result, stable controller operation with reduced chattering at both low and high velocities is realized. Finally, the enriched set of parameters involved in the sliding plane is observed to enable the designer to shape different stages of response while maintaining stability and, partly, performance characteristics.
Skip Nav Destination
ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis
July 12–14, 2010
Istanbul, Turkey
Conference Sponsors:
- International
ISBN:
978-0-7918-4919-4
PROCEEDINGS PAPER
Sliding-Mode Control Algorithm Development for Anti-Lock Braking System
Ahmet Okyay,
Ahmet Okyay
Middle East Technical University, Ankara, Turkey
Search for other works by this author on:
Ender Cig˘erog˘lu,
Ender Cig˘erog˘lu
Middle East Technical University, Ankara, Turkey
Search for other works by this author on:
S. C¸ag˘lar Bas¸lamıs¸lı
S. C¸ag˘lar Bas¸lamıs¸lı
Hacettepe University, Ankara, Turkey
Search for other works by this author on:
Ahmet Okyay
Middle East Technical University, Ankara, Turkey
Ender Cig˘erog˘lu
Middle East Technical University, Ankara, Turkey
S. C¸ag˘lar Bas¸lamıs¸lı
Hacettepe University, Ankara, Turkey
Paper No:
ESDA2010-24303, pp. 115-123; 9 pages
Published Online:
December 28, 2010
Citation
Okyay, A, Cig˘erog˘lu, E, & Bas¸lamıs¸lı, SC. "Sliding-Mode Control Algorithm Development for Anti-Lock Braking System." Proceedings of the ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis. ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 5. Istanbul, Turkey. July 12–14, 2010. pp. 115-123. ASME. https://doi.org/10.1115/ESDA2010-24303
Download citation file:
15
Views
Related Proceedings Papers
Related Articles
Comparison of Adaptive Fuzzy Sliding-Mode Pulse Width Modulation Control With Common Model-Based Nonlinear Controllers for Slip Control in Antilock Braking Systems
J. Dyn. Sys., Meas., Control (January,2018)
A New Approach to Scan-Trajectory Design and Track: AFM Force Measurement Example
J. Dyn. Sys., Meas., Control (September,2008)
Global Sliding Mode Control Via Linear Matrix Inequality Approach for Uncertain Chaotic Systems With Input Nonlinearities and Multiple Delays
J. Comput. Nonlinear Dynam (March,2018)
Related Chapters
Practical Applications
Robust Control: Youla Parameterization Approach
A Novel Approach for LFC and AVR of an Autonomous Power Generating System
International Conference on Mechanical Engineering and Technology (ICMET-London 2011)
Dynamic Behavior in a Singular Delayed Bioeconomic Model
International Conference on Instrumentation, Measurement, Circuits and Systems (ICIMCS 2011)