Efficient fuzzy control of a laboratory ABS

The paper deals with vehicle braking using the anti-lock braking system (ABS) for a quarter vehicle ABS laboratory model by InTeCo. Based on the nonlinear state-space model of the laboratory plant obtained using first principles, derivation of the transfer function is revisited. Two controller types are designed: a standard PD controller and a fuzzy slip controller. Closed-loop performance is evaluated and analyzed from experiments on the real laboratory plant.