Simulated and experimental study of hydraulic anti-lock braking system using sliding-mode PWM control

Both simulated and experimental studies of an anti-lock braking system are undertaken. A nonlinear mathematical model of the anti-lock braking system is built and a simulation is performed. Two sliding-mode controllers, one using pulse. width modulation, and the other switching control, are designed and tested. Comparisons of simulated and experimental results obtained using these two control methods are discussed. Simulated results were verified on a test stand. Emergency braking controlled by a standard commercial electric control unit is also performed on the dynamic test stand and compared with the results of the designed systems. The proposed mathematical ABS model's simulated results match experimental data well. (C) 2002 Elsevier Science Ltd. All rights reserved.