Control prototyping for an anti-lock braking control system on a scaled vehicle

This paper describes the design, simulation, implementation, and testing of wheel slip regulation in anti-lock brake systems on a one-fifth scaled vehicle. A sliding mode control design is presented, and simulation and test results demonstrate acceptable controller performance. Of note to control design is the use of a cascaded control scheme to simplify the wheel slip regulation problem, with the brake torque output of the vehicle controller being used as the desired output for the actuator controller. The use of control prototyping techniques is highlighted, particularly to demonstrate application in advanced vehicle control system development This paper demonstrates use of a scaled laboratory system as a cost and time effective step in evaluating control designs within a development cycle. Testing reveals a need to redesign the brake system, taking advantage of integrated simulation and testing procedures.