Volume 10, Issue 1 (Journal of Control, V.10, N.1 Spring 2016)                   JoC 2016, 10(1): 37-49 | Back to browse issues page

XML Persian Abstract Print

Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:

Akbarzadeh Kalat A, Hosseinpur M. Observer-Based Robust Indirect Adaptive Fuzzy Control of Antilock Braking System Using Road Conditions Estimation . JoC 2016; 10 (1) :37-49
URL: http://joc.kntu.ac.ir/article-1-292-en.html
1- Shahrood univ. of Technology
Abstract:   (7421 Views)

In this study, an observer based indirect adaptive fuzzy controller for the anti-lock braking system (ABS) is proposed. First, using the Lugre internal friction model in the single corner model of automobile, road profile is estimated. Then, using the estimator results, the optimum slip is estimated. It should be noted that in the optimum slip, the maximum longitudinal friction created between the tire and road is achieved, so that the automobile stops in the least possible distance. Since some of state variables of the system are difficult to measure or contaminated by noise, and observer based controller is designed in this paper. The controller objective is to realize the reference slip obtained from the road condition estimator. Using Lyapunov stability theory, it is verified that the values obtained for road condition and vehicle speed will converge to their actual values. In addition, it is shown that the indirect adaptive fuzzy controller results in asymptotic tracking of the optimum slip. Simulations results show the proper performance of the proposed anti-lock breaking control system in achieving the optimum slip and quick stop of the car without locking the wheel in various road conditions.

Full-Text [PDF 1451 kb]   (3804 Downloads)    
Type of Article: Research paper | Subject: Special
Received: 2015/09/25 | Accepted: 2016/09/18 | Published: 2016/09/18

Add your comments about this article : Your username or Email:

Send email to the article author

Rights and permissions
Creative Commons License This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

© 2023 CC BY-NC 4.0 | Journal of Control

Designed & Developed by : Yektaweb