Designing of a sliding mode controller and compare with integral feedback method for a system: Antilock Brake System

The Anti-lock Brake System (ABS) nonlinear model is considered in this paper. At first, a sliding mode controller is designed for this system. This method is selected since the system is naturally nonlinear and robustness. Sliding mode controller has many advantages, but it has high frequency oscillation which is called Chattering. The Chattering phenomenon is the biggest problem in sliding mode controller. Here, one approach is proposed to reduce the chatteringproblem, and simulation result showed the successful operation of these approaches. In next step, an optimization-based braking torque control law is developed for ABS using the prediction of the wheel slip response from a continuous nonlinear vehicle dynamics model. To increase the robustness of the controller, the integral feedback technique is appended to the design method. The results of this method are compared with sliding mode controller. The simulation results showed that these responses are similar in terms of performance and both of them provide appropriate responses.