ABS Composite Control Based on Optimal Slip Ratio

In this paper, the problem of ABS composite controller design based on optimal slip ratio is studied. First, the design objectives of ABS controller are proposed by taking the characteristics of braking process into account, and then, a practical composite controller is presented by combining robust and the logical threshold control schemes and the corresponding design approach is given. Finally, the composite controller is implemented on a single-wheel ABS system and the experiments are carried out under two kinds of road conditions. The results show that the actual slip ratio is kept near the optimal slip ratio under the composite controller. Thus, the proposed composite controller is feasible and valid.