Multiple Model Adaptive Control of Antilock Brake System via Backstepping Approach

Application of multiple model adaptive control (MMAC) approach in the anti-lock brake system (ABS) was discussed. The design process of ABS MMAC controllers via Backstepping approach was presented. The high adhesion fixed model, medium adhesion fixed model, low adhesion fixed model and adaptive model were four models used in MMAC. The switching rules of different model controllers were also presented. Simulation was conduced for ABS control system using MMAC method basing on quarter vehicle model. Results show this method can control wheel slip ratio more accurately, and has higher robustness, therefore it improve ABS performance effectively.