Robust hybrid control for antilock braking systems

Abstract

The antilock braking systems are designed to maximize wheel traction by preventing the wheels from locking during braking, while also maintaining adequate vehicle steerability; however, the performance is often degraded under harsh road conditions. In this study, a robust hybrid control system is developed for the antilock braking systems. In this design method, the robust hybrid control system is comprised of a hybrid controller and a robust controller to achieve a desired H-infinity control performance. The hybrid controller containing a fuzzy uncertainty observer is the principal controller, and the robust controller is designed to achieve the desired H-infinity tracking performance. Finally, simulations are performed to demonstrate the effectiveness of the proposed robust hybrid control system for antilock braking control under various road conditions.