Application of a sliding mode control to anti-lock brake system

This paper presents application method of a sliding mode wheel slip controller for ABS that improves the vehicle response and increases the safety on slippery road. Sliding mode wheel slip controller receives wheel slip ratio, vehicle velocity, longitudinal acceleration, and tire forces from vehicle model to generate braking pressures. In general, two solenoid valves, so called normal open and normal close valves, have been used to generate the hydraulic pressure necessary to generate proper braking force. In this paper, the valve operating method is proposed to implement the sliding mode control output in hydraulic unit of the ABS. The control performance is verified by using a HILS System that has a vehicle braking system controlled with On/Off solenoid valves.