Linear Slip Control for Improved Antilock Braking System

Traction, braking and stability control of the automotive systems are mostly represented by the wheel slip control. This paper has presented linear slip control for improved antilock braking system. The aim of this work is to design and simulate a slip control system with improved tracking performance in Matlab/Simulink environment, and thereby maintaining an optimal wheel slip ratio. A two degree of freedom proportional plus integral plus derivative (2DOFPID) controller is developed and integrated into a dynamic model of a quarter-car. The developed slip control system was simulated in Matlab/Simulink environment. To show the effectiveness or robustness of the controller, simulations were performed on a straight-line braking operation on two different road surface conditions. In each case the controller was able to bring the system back to the desired trajectory of 10% optimal slip, which signifies a robust control system. It can be seen that the designed controller was able to minimize slip on the two road conditions considered in this paper.