| CHATTERING REDUCTION OF SLIDING MODE CONTROL VIA
NONLINEAR DISTURBANCE OBSERVER FOR ANTI-LOCK BRAKING
SYSTEM AND VERIFICATION WITH CARSIM SIMULATION |
| Minseong Choi 1, Kyunghwan Choi 2, Minsu Cho 3, Minyoung Lee 4, Kyung-Soo Kim 3 |
1Division of Future Vehicle, KAIST
2School of Mechanical Engineering, GIST
3Department of Mechanical Engineering, KAIST
4Department of Smart Industrial Machine Technologies, KIMM |
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| ABSTRACT |
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The anti-lock braking system (ABS) is a vehicle safety technology that prevents wheels from locking during
braking by tracking the optimal reference slip. Due to the structural characteristics of hydraulic circuits, a brake system has a
discontinuous pressure control input which is composed of apply and dump modes. Sliding mode control is a robust control
technique that uses discontinuous control input and is being studied expensively. However, sliding mode control has a crucial
chattering problem caused by high compensation gain, which leads to high wearing of the mechanical parts. This problem can
be alleviated by compensating for unknown disturbances with estimated values. A nonlinear disturbance observer can estimate
the system’s uncertainty without mathematical model information. Therefore, sliding mode control based on a nonlinear
disturbance observer is proposed here, and the simulation results with ABS are compared with the original sliding mode control.
Simulations are conducted with high- and low- road surface scenarios, and three key performance indicators for evaluations
are compared. In conclusion, the brake performance was enhanced and the chattering issue of the sliding mode controller was
reduced by proposed method. |
| Key Words:
Anti-lock braking system (ABS), Sliding mode control, Nonlinear disturbance observer, Vehicle safety
control, Hydraulic circuits |
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Corresponding Author.
Kyung-Soo Kim , Email. 
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