Adaptive discrete-time fuzzy sliding mode control for anti-lock braking systems

Author

Emami, K.J. ; Akbarzadeh, M. -R

Author_Institution

Dept. of Electr. Eng., Ferdowsi Univ. of Mashhad, Iran

fYear

2003

fDate

24-26 July 2003

Firstpage

335

Lastpage

340

Abstract

A discrete-time adaptive fuzzy sliding mode controller is proposed for an antilock braking system (ABS) of a 13th order two-wheel nonlinear model of a car. The model includes interaction of front and rear wheel subsystems. The presented controller aims to least depend on a mathematical model, only assuming certain upper and lower bounds of uncertainties. The controller is designed based on a hybrid combination of variable structure control, direct adaptive fuzzy control and linear control. Two fuzzy approximators are used to estimate nonlinear functions of the plant. The controller is global uniform Lyapunov stable. Simulation results show favorable output tracking performance despite poor knowledge of wheel dynamics and system disturbances such as road roughness.

Keywords

Lyapunov methods; adaptive control; braking; control system synthesis; discrete time systems; fuzzy control; nonlinear functions; road vehicles; variable structure systems; vehicle dynamics; ABS; antilock braking system; control system synthesis; discrete time adaptive fuzzy control; front wheel subsystems interaction; linear control; lyapunov stability; nonlinear functions; output tracking performance; rear wheel subsystems interaction; road vehicles; sliding mode control; two wheel nonlinear car model; wheel dynamics; Adaptive control; Adaptive systems; Fuzzy control; Fuzzy systems; Mathematical model; Nonlinear control systems; Programmable control; Sliding mode control; Uncertainty; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Information Processing Society, 2003. NAFIPS 2003. 22nd International Conference of the North American

Print_ISBN

0-7803-7918-7

Type

conf

DOI

10.1109/NAFIPS.2003.1226807

Filename

1226807