Multiple Surface Sliding Mode Based Two-time Scale Technique for Antilock Braking System

In this article, a robust controller is designed for the vehicle's antilock braking system (ABS), having nonlinearities and disturbances as significant challenges. To address these challenges, a multiple sliding surface-based controller with the two-time scale (TTS) approach for uncertainty estimation is proposed. To make the system more realistic, actuator dynamics are considered with the two-axle vehicle model. Wheel slips are accurately tracking the desired slips with optimum braking efforts the proposed controller. Since the controller is robust and continuous, no chattering and bounds are not needed while estimating disturbances. The robustness of the controller is validated using MATLAB/Simulink software for various road surfaces.