Title :
Adaptive discrete-time fuzzy sliding mode control for anti-lock braking systems
Author :
Emami, K.J. ; Akbarzadeh, M. -R
Author_Institution :
Dept. of Electr. Eng., Ferdowsi Univ. of Mashhad, Iran
Abstract :
A discrete-time adaptive fuzzy sliding mode controller is proposed for an antilock braking system (ABS) of a 13th order two-wheel nonlinear model of a car. The model includes interaction of front and rear wheel subsystems. The presented controller aims to least depend on a mathematical model, only assuming certain upper and lower bounds of uncertainties. 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 controller is global uniform Lyapunov stable. Simulation results show favorable output tracking performance despite poor knowledge of wheel dynamics and system disturbances such as road roughness.
Keywords :
Lyapunov methods; adaptive control; braking; control system synthesis; discrete time systems; fuzzy control; nonlinear functions; road vehicles; variable structure systems; vehicle dynamics; ABS; antilock braking system; control system synthesis; discrete time adaptive fuzzy control; front wheel subsystems interaction; linear control; lyapunov stability; nonlinear functions; output tracking performance; rear wheel subsystems interaction; road vehicles; sliding mode control; two wheel nonlinear car model; wheel dynamics; Adaptive control; Adaptive systems; Fuzzy control; Fuzzy systems; Mathematical model; Nonlinear control systems; Programmable control; Sliding mode control; Uncertainty; Wheels;
Conference_Titel :
Fuzzy Information Processing Society, 2003. NAFIPS 2003. 22nd International Conference of the North American
Print_ISBN :
0-7803-7918-7
DOI :
10.1109/NAFIPS.2003.1226807
