Citation

Patil CB, Longoria RG. Int. J. Veh. Syst. Model. Test. 2007; 2(4): 411-427.

Copyright

(Copyright © 2007, Inderscience Publishers)

DOI

10.1504/IJVSMT.2007.017122

PMID

unavailable

Abstract

A unique decoupling feature in frictional disk brake mechanisms, derived through kinematic analysis, enables modularised design of an Anti-lock Braking System (ABS) into a sliding mode system that specifies reference brake torque and a tracking brake actuator controller. Modelling of brake actuation, vehicle dynamics, and control design are described for a scaled vehicle system. The overall control scheme is evaluated by hardware-in-the loop testing of the electromechanical brake system, and experimental results for two braking scenarios illustrate the benefits of the modular control design scheme and its impact on practical hardware-in-the-loop implementation.