The antilock braking system (ABS) is a representative technology to improve the safety of hard braking in automobiles. The slip rate control has been a challenging issue due to the complicated characteristics of tires and the strong nonlinearity of the system. In this paper, a novel adaptive finite-time controller for ABS is developed to improve braking performance. Different from the current control strategies for ABS, the extended finite-time stability theory and state constraint are comprehensively considered in the proposed control strategy. The extended finite-time stability theory is applied to deal with the system uncertainties, by which the convergence of slip rate tracking error is achieved. And the asymmetric tan-type barrier Lyapunov function (BLF) is used to ensure that the wheel slip ratio is within a smaller and more stable area. Finally, according to the simulation and experiment, compared with the existing BLF controller, a faster convergence rate, better robustness and anti-disturbance performance of ABS can be achieved with the proposed strategy.
LúaCAGennaroSDMoralesM. Nonlinear adaptive controller applied to an antilock braking system with parameters variations. Int J Control Autom Syst2017; 15(5): 2043–2052.
2.
SunJXueXChengKWE. Four-wheel anti-Lock braking system with robust adaptation under complex road conditions. IEEE Trans Vehicular Technol2021; 70(1): 292–302.
3.
AparowVRAhmadFHudhaK, et al. Modelling and PID control of antilock braking system with wheel slip reduction to improve braking performance. Int J Veh Saf2013; 6: 265–296.
4.
ZangHZhangSDaiY, et al. The research of vehicle handling performance and stability based on the integrated control of electronic stability program and anti-block braking system. Boletin Tecnico/Tech Bull2017; 55(8): 634–640.
5.
ZhangZMaRWangL, et al. Novel PMSM control for anti-lock braking considering transmission properties of the electric vehicle. IEEE Trans Vehicular Technol2018; 67: 10378–10386.
6.
MirzaeiMMirzaeinejadH. Optimal design of a non-linear controller for anti-lock braking system. Transp Res Part C Emerg Technol2012; 24: 19–35.
7.
MirzaeinejadHMirzaeiM. A novel method for non-linear control of wheel slip in anti-lock braking systems. Control Eng Pract2010; 18(8): 918–926.
8.
MirzaeinejadHMirzaeiM. Optimization of nonlinear control strategy for anti-lock braking system with improvement of vehicle directional stability on split-μ roads. Transp Res Part C Emerg Technol2014; 46: 1–15.
9.
RajendranSSpurgeonSKTsampardoukasG, et al. Estimation of road frictional force and wheel slip for effective antilock braking system (ABS) control. Int J Robust Nonlinear Control2019; 29(3): 736–765.
10.
MoosapourSSFazeli AslSBAziziM. Adaptive fractional order fast terminal dynamic sliding mode controller design for antilock braking system (ABS). Int J Dyn Control2019; 7: 368–378.
11.
PatilAGinoyaDShendgePD, et al. Uncertainty-estimation-based approach to Antilock Braking Systems. IEEE Trans Vehicular Technol2016; 65(3): 1171–1185.
12.
HosseinM. Robust predictive control of wheel slip in antilock braking systems based on radial basis function neural network. Appl Soft Comput2018; 70: 318–329.
13.
YazdanpanahRMirsalimM. Design of robust speed and slip controllers for a hybrid electromagnetic brake system. IET Electric Power Appl2015; 9(4): 307–318.
14.
PanHJingXSunW. Robust finite-time tracking control for nonlinear suspension systems via disturbance compensation. Mech Syst Signal Process2017; 88: 49–61.
15.
BhatSPBernsteinDS. Continuous finite-time stabilization of the translational and rotational double integrators. IEEE Trans Automat Contr1998; 43(5): 678–682.
16.
DingSLiSLiQ. Stability analysis for a second-order continuous finite-time control system subject to a disturbance. J Contr Theor Appl2009; 7: 271–276.
17.
HongYHuangJXuY. On an output feedback finite-time stabilisation problem. IEEE Trans Automat Contr2001; 46(2): 305–309.
18.
HeGGengZ. Finite-time stabilization of a comb-drive electrostatic microactuator. IEEE/ASME Trans Mechatron2012; 17(1): 107–115.
19.
ZhangLWangSKarimiHR, et al. Robust finite-time control of switched linear systems and application to a class of Servomechanism Systems. IEEE/ASME Trans Mechatron2015; 20(5): 2476–2485.
20.
HuangXLinWYangB. Global finite-time stabilization of a class of uncertain nonlinear systems. Automatica2005; 41(5): 881–888.
21.
HuangJWenCWangW, et al. Design of adaptive finite-time controllers for nonlinear uncertain systems based on given transient specifications. Automatica2016; 69(7): 395–404.
22.
LiuYJZhangYLiuL, et al. Adaptive finite-time control for half-vehicle active suspension systems with uncertain dynamics. IEEE/ASME Trans Mechatron2020; 26(1): 168–178.
23.
JiaoXLiGWangH. Adaptive finite time servo control for automotive electronic throttle with experimental analysis. Mechatronics2018; 53: 192–201.
24.
LuoHYuJLinC, et al. Finite-time dynamic surface control for induction motors with input saturation in electric vehicle drive systems. Neurocomputing2019; 369: 166–175.
25.
DingSSunJ. Direct yaw-moment control for 4WID electric vehicle via finite-time control technique. Nonlinear Dyn2017; 88(1): 239–254.
26.
MengQSunZYLiY. Finite-time Controller design for four-wheel-steering of electric vehicle driven by four In-wheel motors. Int J Control Autom Syst2018; 16: 1814–1823.
27.
YuSYuXShirinzadehB, et al. Continuous finite-time control for robotic manipulators with terminal sliding mode. Automatica2005; 41(11): 1957–1964.
28.
JinXXuJX. Iterative learning control for output-constrained systems with both parametric and nonparametric uncertainties. Automatica2013; 49(8): 2508–2516.
29.
ChaudhariPSharmaVShendgePD, et al. Disturbance observer based sliding mode control for anti-lock braking system. In: IEEE international conference on power electronics, 2017. New York: IEEE.
MadauDPYuanFDavisLI, et al. Fuzzy logic anti-lock brake system for a limited range coefficient of friction surface. In: IEEE international conference on fuzzy systems, 1993. New York: IEEE.
32.
TeeKPGeSSTayEH. Barrier Lyapunov Functions for the control of output-constrained nonlinear systems. Automatica2009; 45(4): 918–927.
33.
HardyGHLittlewoodJEPolyaG. Inequalities. Cambridge: Cambridge University Press, 1952.
34.
Akbarzadeh EmamiKJParizN. Adaptive discrete-time fuzzy sliding mode control for anti-lock braking systems. In: Fuzzy Information Processing Society, Nafips International Conference of the North American, 2003.
