A novel method for non-linear control of wheel slip in anti-lock braking systems

Anti-lock braking system (ABS) provides active safety for vehicles during braking by regulation of the wheel slip at its optimum value. Due to the non-linear characteristics and model uncertainties in vehicle dynamics, a non-linear controller with increased robustness should be designed for ABS. In this paper, to achieve this aim, an optimization-based braking torque control law is developed for ABS using the prediction of the wheel slip response from a continuous non-linear vehicle dynamics model. To increase the robustness of the controller, the integral feedback technique is appended to the design method. The derived control law and its special cases are evaluated and discussed. At the end, the performance of the proposed controller is compared with that of a sliding mode controller, reported in the literature, through simulations of braking on dry and slippery roads. The simulation results indicate that, the wheel slip tracking error is remarkably decreased by the proposed controller. Moreover, the achieved control input is entirely smooth and suitable for implementation.