Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Sliding Mode Control of the Vehicle ABS with a Disturbance Observer for Model Uncertainties

모델 불확실성에 대한 외란 관측기를 가진 차량 ABS의 슬라이딩 모드 제어

  • 황진권 (우석대학교 전기전자공학과) ;
  • 송철기 (경상대학교 기계항공공학부, 공학연구원(ERI))
  • Published : 2006.04.01
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Abstract

This paper addresses sliding mode control of the anti-lock braking system (ABS) with a disturbance observer for model uncertainties such as vehicle parameter variation, un-modeled dynamics, and external disturbances. By using a nominal vehicle model, a sliding mode controller is designed to achieve a desired wheel slip ratio for ABS control. To compensate the model uncertainties, a disturbance observer is introduced with the help of a transfer function of a hydraulic brake dynamics. A proposed sliding mode controller with a disturbance observer is evaluated through simulations for model uncertainties. The simulation results show that the disturbance observer can enhance performances of sliding mode control for ABS.

Keywords

References

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