Universiti Teknologi Malaysia Institutional Repository

Antilock braking control using robust control approach

Hamzah, Norhazimi (2006) Antilock braking control using robust control approach. Masters thesis, Universiti Teknologi Malaysia, Faculty of Electrical Engineering.

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The aims of this study are to establish the mathematical model and the robust control technique for an Antilock Braking System (ABS). The ABS have been developed to reduce tendency of wheel lock up and to improve vehicle control during sudden braking. The ABS work by maintaining the wheel slip to a desired level so that maximum tractive force and maximum vehicle deceleration is obtained, thus reducing the vehicle stopping distance. A quarter vehicle model undergoing straightline braking maneuver, tire dynamics and hydraulic brake dynamics mathematical model are developed to represent the ABS model. The established mathematical model shows the ABS dynamics exhibits strong nonlinear characteristics. Thus, Sliding Mode Control which is a robust control technique is proposed in this study to regulate the wheel slip at the desired value depending on the road surface. The mathematical derivations proved the designed controller satisfy the stability requirement. Extensive simulation study is performed to verify the effectiveness of the designed controller and the result shows the designed controller able to maintain the wheel slip at the desired value and reducing the stopping distance

Item Type:Thesis (Masters)
Additional Information:Tesis (Master of Engineering (Electrical - Mechatronics and Automatic Control)) - Universiti Teknologi Malaysia, 2006
Uncontrolled Keywords:Antilock Braking System (ABS); mathematical model; robust control technique
Subjects:T Technology > TJ Mechanical engineering and machinery
Divisions:Electrical Engineering
ID Code:297
Deposited By: Ms Zalinda Shuratman
Deposited On:15 Feb 2007 05:07
Last Modified:19 Nov 2012 01:05

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