Fractional order sliding mode controller design for antilock braking systems

Authors:
Yinggan Tang;Xiangyang Zhang;Dongli Zhang;Gang Zhao;Xinping Guan
Affiliations:
Institute of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, China and Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai, 200240, ...;Institute of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, China;Institute of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, China;Rochester Institute of Technology, Rochester, NY 14624, USA;Institute of Electronic, Information, and Electrical Engineering, Shanghai Jiaotong University, Shanghai 200240, China
Venue:
Neurocomputing
Year:
2013

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Abstract

Antilock braking system (ABS) is a highly nonlinear system including variation and uncertainties in the parameters due to changes in vehicle loadings, road condition, etc. It is a difficult task to design an ideal controller for ABS. In this paper, a novel robust controller named fractional order sliding mode controller (FOSMC) is proposed for ABS to regulate the slip to a desired value. The proposed FOSMC combines sliding mode controller (SMC) with fractional order dynamics, in which fractional order proportional-derivative (FOPD) sliding surface is adopted. FOSMC can not only deal with the uncertainties in ABS system but also track the desired slip faster than conventional integer order SMC with proportional or proportional-derivative sliding surface. Experimental results demonstrate the effectiveness of the proposed method.