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Research Papers

Adaptive Fuzzy Fractional-Order Sliding Mode Controller Design for Antilock Braking Systems

[+] Author and Article Information
Yinggan Tang

Institute of Electrical Engineering;National Engineering Research Center for
Equipment and Technology of Cold Strip Rolling,
Yanshan University,
Qinhuangdao, Hebei 066004, China
e-mail: ygtang@ysu.edu.cn

Ying Wang, Mingyu Han

Institute of Electrical Engineering,
Yanshan University,
Qinhuangdao, Hebei 066004, China

Qiusheng Lian

School of Information Science and Engineering,
Yanshan University,
Qinhuangdao, Hebei 066004, China

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received July 21, 2015; final manuscript received January 12, 2016; published online February 17, 2016. Assoc. Editor: Heikki Handroos.

J. Dyn. Sys., Meas., Control 138(4), 041008 (Feb 17, 2016) (8 pages) Paper No: DS-15-1332; doi: 10.1115/1.4032555 History: Received July 21, 2015; Revised January 12, 2016

Antilock braking system (ABS) has been designed to attain maximum negative acceleration and prevent the wheels from locking. Many efforts had been paid to design controller for ABS to improve the brake performance, especially when road condition changes. In this paper, an adaptive fuzzy fractional-order sliding mode controller (AFFOSMC) design method is proposed for ABS. The proposed AFFOSMC combines the fractional-order sliding mode controller (FOSMC) and fuzzy logic controller (FLC). In FOSMC, the sliding surface is PDα, which is based on fractional calculus (FC) and is more robust than conventional sliding mode controllers. The FLC is designed to compensate the effects of parameters varying of ABS. The tuning law of the controller is derived based on Lyapunov theory, and the stability of the system can be guaranteed. Simulation results demonstrate the effectiveness of AFFOSMC for ABS under different road conditions.

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Figures

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Fig. 1

Stability region of fractional system

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Fig. 2

ABS structure with FOSMC controller

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Fig. 3

ABS with AFFOSMC controller

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Fig. 4

Coefficient of road friction versus wheel slip ratio

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Fig. 5

Simulation results of SMC with PI sliding surface

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Fig. 6

Simulation results of SMC with PDα sliding surface

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Fig. 7

Simulation results of the proposed method

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