A Sliding Mode Controller for Wheel Slip Ratio Control System |
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Authors: | Taketoshi Kawabe Masao Nakazawa Ikuro Notsu Yoshito Watanabe |
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Institution: |
a Research Dept. Nissan Diesel Motor Co., Ltd., Japan |
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Abstract: | A sliding mode controller has been developed for a wheel slip ratio control system for commercial vehicles with sluggish braking actuators to replace conventional if-then rule-like ABS control laws. New techniques overcome the tendency of sliding mode controllers to chatter. Computer simulation (hardware-in-the-loop simulation) and actual vehicle tests verified the effectiveness of this method to suppress chattering and keep the wheel slip ratio in a desirable range during braking on low-friction road surfaces. |
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