ABS control via Fractional Order Extremum Seeking approach

This paper focuses on the development of a robust Fractional Order Extremum-Seeking (FOES) scheme for controlling the ABS of vehicle motion system by continuously adjusting the brake torque. Extremum Seeking (ES) known for its properties to seek the maximum of unknown function and Fractional Order (FO) control for its robustness in the presence of parameter variations and the disturbances are employed to control the wheel slip rate in emergency braking maneuver. The aim of an ABS is to minimize brake distance while steer ability is retained even under hard braking, to understand the fundamental physical effect, which leads to wheel blocking during braking. Simulations under various road conditions are performed to demonstrate the effectiveness of the proposed control scheme.