Adaptive Sliding Mode Backstepping Control for an Antilock Braking System Based on LuGre Dynamics Tire Model

To improve the vehicle safety and optimize vehicle control algorithms in the braking maneuver,this paper focused on the antilock braking system(ABS) control approach.An adaptive sliding mode backstepping control approach was proposed for the antilock braking system.First,a quarter vehicle model was built with the lumped LuGre dynamic tire model.The parameters of LuGre model were identified via the nonlinear least squares method.In addition,according to the relationship between longitudinal dynamics and slip ratio,the control object and adaptive sliding model backstepping controller were addressed.The controller could track the desired slip ratio quickly and decrease the output chattering.The Lyapunov theory was used to prove the stability of this control method.Resultsof simulation show that great and robust performance is achieved for tracking the desired slip ratio in the different road surfaces scenarios.