Adaptive Sliding Mode Control for Vehicle Braking Systems with TSK Model Control Method

J.H. Yang, C.C. Yang, and J.Y. Lai (Taiwan)


Braking system, adaptive sliding model, fuzzy control, Lyapunove stability theorem


This paper addresses the problem of controlling a vehicle motion system by continuously adjusting the brake torque. A full-order model which consists of the vehicle motion subsystem, wheel dynamics, and servo-valve hydraulic actuator is considered. Based on the varying dynamic structure of the system, the controller are designed via fuzzy modeling method. An adaptive sliding model controller is then applied to achieve trajectory tracking control for brake of vehicle motion. Asymptotic stability of the overall system is confirmed by using Lyapunov stability theorem and is also validated by computer simulations.

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