A Hybrid Model-Based and Rule-Based Algorithm for an Antilock Brake System Using a Discrete-Time Switching Mode Controller

An Antilock Brake System (ABS) based on a discrete-time switching mode controller originating from a modified sigmoid function is proposed. A sufficient condition on controller parameters is obtained from Lyapunov stability analysis. The proposed ABS has two components, a brake actuator controller and a wheel slip regulation algorithm, where the controller is applied in two different contexts. First, the model-based brake controller was designed for a pneumatic brake actuator following first order plus time delay dynamics, named as Predictive Switching Mode Controller (PSMC). Second, the rule-based wheel slip algorithm was formulated that minimized the error between the wheel slip ratio and its reference value. The proposed ABS algorithm was evaluated in a Hardware-in-Loop setup having IPG TruckMaker®. The algorithm was able to improve the braking distance performance up to 22.5% when compared to an existing rule-based ABS algorithm.