Dynamic slip ratio estimation and control of antilock braking systems considering wheel angular velocity

This paper proposes an antilock braking system (ABS), in which unknown road characteristics are resolved by a road estimator. This estimator is based on the LuGre friction model with a road condition parameter, and can transmit a reference slip ratio to a slip ratio controller through a mapping function considering the effect of wheel angular velocity. In the controller design, a direct adaptive fuzzy-neural controller (DAFC) for an ABS is developed. Finally, this paper gives simulation results of an ABS with the road estimator and the DAFC, and shows good effectiveness under varying road conditions.