Interval Type-2 T-S Fuzzy Robust Anti-Lock Braking Control for Electro-Mechanical Braking System Considering Road Uncertainty and Input Delay

The electro-mechanical braking (EMB) system, known for its integration and intelligence, is considered an ideal actuator for vehicles. However, accurate slip ratio tracking is hindered by uncertainties in the road adhesion coefficient and communication delays, which adversely affect anti-lock braking performance. This study proposes an interval type-2 Takagi-Sugeno (IT2 T-S) fuzzy robust $H_{\mathrm {\infty }}$ anti-lock braking control strategy to address these challenges. An IT2 T-S fuzzy anti-lock braking system (ABS) model is designed to enhance ABS linearization accuracy under uncertainties in the road adhesion coefficient. The vehicle speed is observed using an IT2 T-S fuzzy observer. A delay-product-type Lyapunov-Krasovskii (L-K) functional robust $H_{\mathrm {\infty }}$ anti-lock braking controller is designed. The delay-product-type L-K functional effectively utilizes delay information to reduce the conservatism of the controller, improving the slip ratio tracking performance of the EMB system under input delay conditions. Additionally, a motor torque compensation strategy is introduced to optimize slip ratio control on different roads. Simulations verify that the proposed strategy improves the EMB system’s slip ratio control performance under conditions of uncertainty and input delay.