Fuzzy Adaptive Sliding Mode Control for Vehicle Brake Systems
| Authors: | Yang Jung Hua, National Pingtung University of Science and Technology, Taiwan
Yang Cheng Jer, National Pingtung University of Science and Technology, Taiwan
Tseng Chyuan Yow, National Pingtung University of Science and Technology, Taiwan |
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| Topic: | 7.1 Automotive Control |
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| Session: | Automotive Control |
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| Keywords: | Braking Control, Adaptive, Sliding Mode, Fuzzy, Lapunov Theorem |
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Abstract
This paper addresses an approach of continuously adjusting the brake torque to fulfil a comfortable and safe drive. A full-order model which consists of three subsystems is under consideration. The controllers are designed for two cases. In the first case considered the vehicle speed when the slip rate is small, and an adaptive control scheme is then developed. In the second case, the rapid of slip rate is deemed as the control target when the slip rate is large, and an adaptive sliding mode control is developed. Due to unknown changing condition, the fuzzy concept is adopted incorporated with the above-mentioned controllers. Asymptotic stability of the overall system is confirmed via Lyapunov stability theorem.
