A new sliding-mode controller design methodology with derivative switching function for anti-lock brake system


Okyay A., Ciğeroğlu E. , Başlamışlı S. Ç.

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, vol.227, pp.2487-2503, 2013 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 227
  • Publication Date: 2013
  • Doi Number: 10.1177/0954406213476387
  • Title of Journal : PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
  • Page Numbers: pp.2487-2503
  • Keywords: Sliding-mode control, sliding surface, switching function, actuator time delay, FEEDBACK-CONTROL, SLIP CONTROL

Abstract

In this study, anti-lock brake system control using sliding-mode controller is investigated. Different alternatives for the switching function and the sliding surface, involved in the structure of the sliding-mode controller, are explored. It was aimed to reach a better controller performance with less chattering and robustness to actuator imperfections. Regarding applicability, tire force response was modeled as a uniformly distributed uncertain parameter during controller designs. Controllers are simulated for both constant and varying coefficient of friction roads, with optimized design parameters. The effects of actuator first-order dynamics and transportation delay, which come up in practical implementations, were considered. The sliding-mode control structure which employs derivative switching function with integral sliding surface is originally proposed in this study. It is found to produce less chattering and provide more robustness, which could not be achieved side by side using former designs.