State and Disturbance Estimation Based Sliding Mode Control for Antilock Braking Systems

Abstract

This article proposes a slip control method for antilock braking systems (ABSs) with an unmeasurable state and mismatched uncertainty. In this method, both state and disturbances are estimated and used in sliding mode control to force the slip to track the desired value. The model considered is a two-axle vehicle with load transfer effects and actuator dynamics. The proposed method does not require sensors for measurements of the tire-road friction coefficient and brake torques. The control is free from the chatter and robust to external disturbances. The controller s stability is proved, and its performance is assessed analytically. Extensive simulation is performed using MATLAB/Simulink considering different road conditions to verify the analysis.