Anti-lock braking control using a sliding mode like approach

The paper starts with a brief history of the design of anti-lock brakes (ABS). The advantages of ABS are explained. For the analysis and controller design a nonlinear longitudinal car model is derived. It is shown that the dynamics can be separated conveniently into two different linear dynamics dependent on the tyre slip. The analysis of the dynamics show the highest possible braking performance. It is further shown that a continuous feedback law cannot not achieve the maximum braking performance. To achieve the maximum braking performance a sliding mode like controller design approach is suggested. The merits of this controller are shown in an example.