Disturbance observer based sliding mode control for anti-lock braking system

This paper is concerned with the improvement of vehicle stability during braking. A disturbance observer (DO) in conjunction with sliding mode control (SMC) has been proposed for anti-lock braking system (ABS). DO is used to estimate and compensate the effect of uncertainty and disturbance from the system. The SMC provides robust control for the nonlinear ABS system to track the desired slip ratio. The objective of DO is to maintain the desired slip ratio for different runway surfaces and different runway transition i.e. change in slip ratio. The controller is verified using MATLAB/Simulink.