Performance Comparison between Sliding Mode Control and Active Force Control for A Nonlinear Anti-Lock Brake System

The Anti-lock braking system (ABS) is the most common safety system in the vehicles, which works to increase the generating braking force between the tire and the road surface in way to keep the stability in vehicles during braking. The high nonlinearity due to the interaction between the tire and road, the uncertainties in vehicle dynamics always exist and using the standard PID controller will not be accurate enough to the extent required to deal with the uncertainties. Two robust control techniques, the sliding mode control (SMC) and an intelligent active force control (AFC) that both of them deal with the dynamic systems to provide durability and quell the unrest that may found in the system. In this paper highlights the ability of this proposed technique to improve the dynamic system robustly by combining them with standard PID in one control scheme (PID-AFC) comparing with (PID-SMC). Results showed the robustness of AFC and solo performance to improving the slip track without chattering phenomenon and thus reduce the stopping distance of the vehicle compared to other control schemes. Key-Words: Anti Lock Brake System; Active Force Control; Sliding Mode Control; Proportional-IntegralDerivative Controller; Robust control; Wheel Slip