Target slip tracking using gain-scheduling for antilock braking systems

In this paper, a gain-scheduling scheme is proposed for optimal target slip tracking of an antilock braking system. The study is based on the fact that for certain road surface condition, the tire force characterization, i.e. the force-slip curve, is indeed varying with respect to different vehicle forward speed. The optimal slip at which the braking force achieves its maximum is not, in contrast to what most slip-regulator design is based upon, a constant. This paper proposes a new ABS controller which regulates the slip to different levels depending on the instant vehicle forward speed along the braking process using gain-scheduling. The control algorithm, coupled with a feedback linearization compensation outer loop, is applied to a quarter-car ABS model. Simulations are performed using MATLAB/SIMULINK. It is shown that the gain-scheduling slip-regulator improves the vehicle braking performance as compared to constant slip-regulators