Sliding Mode Control Algorithms for Anti-Lock Braking Systems with Performance Comparisons
Department of Automation and Applied Informatics, Politehnica University of Timisoara, Bd. V. Parvan 2, 300223 Timisoara, Romania
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Algorithms 2021, 14(1), 2; https://doi.org/10.3390/a14010002
Received: 26 October 2020
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Revised: 7 December 2020
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Accepted: 21 December 2020
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Published: 23 December 2020
(This article belongs to the Special Issue 2020 Selected Papers from Algorithms Editorial Board Members)
This paper presents the performance of two sliding mode control algorithms, based on the Lyapunov-based sliding mode controller (LSMC) and reaching-law-based sliding mode controller (RSMC), with their novel variants designed and applied to the anti-lock braking system (ABS), which is known to be a strongly nonlinear system. The goal is to prove their superior performance over existing control approaches, in the sense that the LSMC and RSMC do not bring additional computational complexity, as they rely on a reduced number of tuning parameters. The performance of LSMC and RSMC solves the uncertainty in the process model which comes from unmodeled dynamics and a simplification of the actuator dynamics, leading to a reduced second order process. The contribution adds complete design details and stability analysis is provided. Additionally, performance comparisons with several adaptive, neural networks-based and model-free sliding mode control algorithms reveal the robustness of the proposed LSMC and RSMC controllers, in spite of the reduced number of tuning parameters. The robustness and reduced computational burden of the controllers validated on the real-world complex ABS make it an attractive solution for practical industrial implementations.
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MDPI and ACS Style
Chereji, E.; Radac, M.-B.; Szedlak-Stinean, A.-I. Sliding Mode Control Algorithms for Anti-Lock Braking Systems with Performance Comparisons. Algorithms 2021, 14, 2. https://doi.org/10.3390/a14010002
AMA Style
Chereji E, Radac M-B, Szedlak-Stinean A-I. Sliding Mode Control Algorithms for Anti-Lock Braking Systems with Performance Comparisons. Algorithms. 2021; 14(1):2. https://doi.org/10.3390/a14010002
Chicago/Turabian StyleChereji, Emanuel, Mircea-Bogdan Radac, and Alexandra-Iulia Szedlak-Stinean. 2021. "Sliding Mode Control Algorithms for Anti-Lock Braking Systems with Performance Comparisons" Algorithms 14, no. 1: 2. https://doi.org/10.3390/a14010002
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