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모델 불확실성에 대한 외란 관측기를 가진 차량 ABS의 슬라이딩 모드 제어
황진권(Jin Kwon Hwang),송철기(Chul Ki Son) Korean Society for Precision Engineering 2006 한국정밀공학회지 Vol.23 No.4
This paper addresses sliding mode control of the anti-lock braking system (ABS) with a disturbance observer for model uncertainties such as vehicle parameter variation, un-modeled dynamics, and external disturbances. By using a nominal vehicle model, a sliding mode controller is designed to achieve a desired wheel slip ratio for ABS control. To compensate the model uncertainties, a disturbance observer is introduced with the help of a transfer function of a hydraulic brake dynamics. A proposed sliding mode controller with a disturbance observer is evaluated through simulations for model uncertainties. The simulation results show that the disturbance observer can enhance performances of sliding mode control for ABS.