Simulated and experimental study of antilock braking system using grey sliding mode control

Antilock braking system (ABS) exhibits strongly nonlinear and uncertain characteristics. To overcome these difficulties, robust control methods should be employed. In this paper, a grey sliding mode controller is proposed to track the reference wheel slip. The concept of grey system theory, which has a certain prediction capability, offers an alternative approach to conventional control methods. The proposed controller anticipates the upcoming values of wheel slip, and takes the necessary action to keep wheel slip at the desired value. The control algorithm is applied to a quarter vehicle model, and it is verified through simulations indicating fast convergence and good performance of the designed controller. Simulated results are validated on real time applications using a laboratory experimental setup.