Adaptive discrete-time fuzzy sliding mode control for anti-lock braking systems

Author

Akbarzadeh-T, M.-R. ; Emami, K.-J. ; Pariz, N.

Author_Institution

Ferdowsi Univ. of Mashhad, Iran

fYear

2002

fDate

2002

Firstpage

554

Lastpage

559

Abstract

An adaptive discrete time fuzzy sliding mode controller is proposed for an anti-lock braking system (ABS). Due to strong uncertainties in car/brake environment, the presented controller aims to least depend on a mathematical model. The controller is designed based on a hybrid combination of variable structure control, direct adaptive fuzzy control and linear control. Two fuzzy approximators are used to estimate nonlinear functions of the plant. The sliding mode controller guarantees that states remain within a valid approximation region, hence obtaining globally and uniformly Lyapunov stability. Simulation results show that the approach gave good output tracking performance despite road uncertainties and disturbances.

Keywords

adaptive control; automobiles; braking; discrete time systems; fuzzy control; stability; tracking; variable structure systems; Lyapunov stability; adaptive control; antilock braking systems; automobiles; direct adaptive control; discrete time systems; fuzzy control; nonlinear functions; output tracking; sliding mode control; variable structure control; Adaptive control; Adaptive systems; Control systems; Fuzzy control; Fuzzy systems; Lyapunov method; Mathematical model; Programmable control; Sliding mode control; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Information Processing Society, 2002. Proceedings. NAFIPS. 2002 Annual Meeting of the North American

Print_ISBN

0-7803-7461-4

Type

conf

DOI

10.1109/NAFIPS.2002.1018122

Filename

1018122