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This paper is concerned with the problem of constraint control for an Antilock Braking System (ABS) with time-varying asymmetric slip ratio constraints. A quarter vehicle braking model with system uncertainties and a Burckhardt’s tire model are considered. The Time-varying Asymmetric Barrier Lyapunov Function (TABLF) is embedded into the controllers for handling the time-varying asymmetric slip ratio constraint problems. Two adaptive nonlinear control methods (TABLF1 and TABLF2) based on TABLF are proposed not only to track the optimal slip ratio but also to guarantee no violation on the slip ratio constraints. Simulation results show that the proposed controllers can guarantee no violation on slip ratio constraints and avoid self-locking. In the meantime, TABLF1 controller can achieve a faster convergence rate, shorter stopping time, and shorter distance, compared to TABLF2 controller with the same control parameters.

Design and Analysis of Output Feedback Constraint Control for Antilock Braking System with Time-Varying Slip Ratio