Experimental validation and robustness analysis of a multiple model switching antilock braking system control algorithm
by Morteza Dousti; S. Çağlar Başlamışlı
International Journal of Vehicle Design (IJVD), Vol. 71, No. 1/2/3/4, 2016

Abstract: In this paper, antilock braking system (ABS) control algorithms based on multiple model switching lead lag controllers are designed and are experimentally validated. Algorithms are designed to be adaptive with changing driving and road conditions in a switched multiple model manner. The effectiveness of the switching controllers is evaluated during transitions between different road friction coefficients. As the structure of the original experimental test device did not allow for the dynamic modification of the friction coefficient, controller switching stability was demonstrated under varying normal wheel load conditions implemented through simple modifications made on the test setup. The performance of the proposed controllers against varying vehicle speed and friction was also evaluated through simulations involving a half car braking model where a combined multiple model controller and observer structure was implemented. Experimental and simulation results indicate that the proposed control method is a potential candidate for implementation on a test vehicle.

Online publication date: Fri, 02-Sep-2016

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