ABSTRACT
ABS control strategies can be classified mainly according to its control patterns, deceleration control and slip control. Deceleration control is noisy but robust while slip control is smoother but has robustness issues because the real optimal slip, the target of control, is unknown itself. In this research, adaptive nonlinear sliding control was designed for main slip controller to give NVH advantage with optimal slip tracker to give robustness. Controller was designed based on nonlinear wheel dynamics and stability and convergence were proved by Lyapunov method. Augmented control architecture with simple estimation of normal forces and friction coefficients was implemented in MATLAB-CarSim Simulation environment with CarSim-default vehicle and the good performance of the designed whole control law was demonstrated for high friction, low friction and high to low friction jump situation with ideal and real actuators showing the importance of actuator model accuracy for the real system.
