Open AccessDigital Sliding Mode Control of Anti-Lock Braking System
Author(s) -
Darko Mitić,
Staniša Perić,
Dragan Antić,
Zoran Jovanović,
Marko Milojković,
Saša Nikolić
Publication year - 2013
Publication title -
advances in electrical and computer engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.254
H-Index - 23
eISSN - 1844-7600
pISSN - 1582-7445
DOI - 10.4316/aece.2013.01006
Subject(s) - lock (firearm) , sliding mode control , computer science , anti lock braking system , braking system , automotive engineering , mode (computer interface) , control theory (sociology) , control system , control (management) , embedded system , control engineering , operating system , engineering , brake , electrical engineering , physics , artificial intelligence , nonlinear system , mechanical engineering , quantum mechanics
The control of anti-lock braking system is a great challenge, because of the nonlinear and complex characteristics of braking dynamics, unknown parameters of vehicle environment and system parameter variations. Using some of robust control methods, such as sliding mode control, can be a right solution for these problems. In this paper, we introduce a novel approach to design of ABS controllers, which is based on digital sliding mode control with only input/output measurements. The relay term of the proposed digital sliding mode control is filtered through digital integrator, reducing the chattering phenomenon in that way, and the additional signal of estimated modelling error is introduced into control algorithm to enhance the system steady-state accuracy. The given solution was verified in real experimental framework and the obtained results were compared with the results of implementation of two other digital sliding mode control algorithms. It is shown that it gives better system response, higher steady-state accuracy and smaller chattering