Equivalent Control and Reaching Law Applied to ABS

Abstract

An Antilock Braking System (ABS) is characterized by nonlinear dynamics, which make more difficult to design a controller for high performance. The problem is even harder due to the parametric uncertainties that appear in its dynamics. In this paper, it is considered an ABS laboratory setup. An Equivalent Control and a Reaching Controller are proposed to overcome the problem due to the parametric uncertainties. This controller is designed in order to impose a reference value of the tire slip. Also, the Equivalent Control and a Reaching Controller are performed in the representation of the ABS laboratory.