On the performance increase of wheel deceleration control through force sensing

This paper presents a hybrid ABS controller based on wheel deceleration and force sensing. The proposed controller consists of a deceleration based switching logic that stabilizes the wheel slip dynamics around a limit cycle and a force measurement based algorithm that updates the maximum and minimum braking torque. It is shown how force sensing can improve performance and, at the same time, yield a simpler controller with respect to traditional ABS. Experimental tests validate the proposed design.