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Anti-lock Braking System (ABS) is used in automobiles to prevent slipping and locking of wheels after the brakes are applied. Its control is a rather complicated problem due to its strongly nonlinear and uncertain characteristics. The aim of this paper is to investigate the wheel slip control of the ground vehicle, comprising two new strategies. The first strategy is the Sliding Mode Controller (SMC) and the second one is the Fuzzy Sliding Mode Controller (FSMC), which is a combination of fuzzy logic and sliding mode, to ensure the stability of the closedloop system and remove the chattering phenomenon introduced by classical sliding mode control. The obtained simulation results reveal the efficiency of the proposed technique for various initial road conditions. Keywords-Anti-lock Braking System (ABS); sliding mode control; fuzzy logic control; fuzzy sliding mode control; wheel slip ratio

Robust Wheel Slip for Vehicle Anti-lock Braking System with Fuzzy Sliding Mode Controller (FSMC)