DESIGN OF GLOBAL SLIDING MODE CONTROL LAW FOR NONLINEAR ABS SYSTEM
The traditional sliding mode controller of constant speed approach law of ABS system has the problems of sliding rate chattering and poor robustness.Therefore,an improved exponential approach law is proposed,that is,by adding the natural logarithm function term,the sliding mode motion of the system is located on the sliding film surface or close to the sliding mode surface at the beginning of the braking process.Lyapunov stability criterion is applied to prove the stability of the new controller.The simulation results show that the proposed nonlinear global sliding mode control scheme keeps the wheel slip rate near the ideal value,eliminates the chattering phenomenon,and improves the robustness of the control system and the braking performance of the vehicle.
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