Many different control methods for ABS systems have been developed. These methods differ in their theoretical basis and performance under the changes of road conditions. The present review is a part of research project entitled “Intelligent Antilock Brake System Design for Road-Surfaces of Saudi Arabia” In the present paper we review the methods used in the design of ABS systems. We highlight the main difficulties and summarize the more recent developments in their control techniques. Intelligent control systems like fuzzy control can be used in ABS control to emulate the qualitative aspects of human knowledge with several advantages such as robustness, universal approximation theorem and rule-based algorithms.

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An Antilock-Braking Systems (ABS) Control: A Technical Review

A framework based on supervisory control theory (SCT) is proposed to assist the design of multi-modal control for discrete-event systems (DESs). Our purpose handled modes which are conceptualized by using multi-model approach. Each mode represents a running part of the system, depending on the requirements to enforce and resources to activate. The resulted framework aims to design each mode independently first, and resolves conflicting connections between them secondly. The proposal carries out a formal way to build the final ready-to-use control laws. A flexible manufacturing system illustrates this approach.

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Formal Approach to Multimodal Control Design: Application to Mode Switching

In this paper, a slip ratio controller based on model predictive control (MPC) considering road roughness is proposed for electric vehicle (EV) to improve the driving/braking performance under low adhesion coefficient road. A half vehicle dynamic model is derived in which pitching, wheel rolling, and tire vertical movement is taking into account. The influence of vertical force variation caused by road unevenness and tire load transfer is analyzed to design slip ratio controller. In order to ensure vehicle safety, wheel slip stable zone is considered as time-domain constraints of the nonlinear-MPC. Besides, the motor output torque is limited by the motor maximum torque, which is considered as system time-varying constraints. The control objectives include vehicle safety, good longitudinal acceleration and braking performance, preservation of driver comfort, and lower power consumption. The proposed slip ratio controller is verified on a 13-degree-of-freedom (13DOF) EV model in MATLAB/Simulink. Simulation results of different maneuver on roughness surfaces show the benefits of the controller.

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MPC-Based Slip Ratio Control for Electric Vehicle Considering Road Roughness

A comprehensive review of technologies and approaches for active safety systems designed to reduce ground vehicle crashes, as well as the associated severity of injuries and fatalities, is provided...

A review of vehicle active safety control methods: From antilock brakes to semiautonomy:

This paper gives an extended analysis of automotive control systems as components of the integrated motion control (IMC). The cooperation of various chassis and powertrain systems is discussed from a viewpoint of improvement of vehicle performance in relation to longitudinal, lateral, and vertical motion dynamics. The classification of IMC systems is proposed. Particular attention is placed on the architecture and methods of subsystems integration.

Systematization of Integrated Motion Control of Ground Vehicles

This paper develops the anti-lock braking control system integrated with active suspensions applied to a quartercar model by employing the nonlinear backstepping design schemes. In emergency, although the braking distance can be reduced by the control torque from disk/drum brakes, the braking time and distance can be further improved if the normal force generated from active suspension systems is considered simultaneously. Individual controller is designed for each subsystem and an integrated algorithm is constructed to coordinate these two subsystems. As a result, the integration of anti-lock braking and active suspension systems indeed enhances the system performance because of reduction of braking time and distance.

Wei-En Ting

Papers

Nonlinear control design of anti-lock braking systems combined with active suspensions