Nonlinear Robust Control of Antilock Braking Systems Assisted by Active Suspensions for Automobile

In this brief, a novel robust control of an antilock braking system (ABS) with the assistance of an active suspension system (ASS) is proposed for automobile to improve the braking performance. Different from other ABS, not the reference wheel slip ratio but the peak tire-road adhesion coefficient is taken as the control object, and the barrier Lyapunov function control method is adopted to confine the control object within a smaller and more stable area. Besides, the rolling resistance is taken as an external disturbance and counteracted by a modified controller. Furthermore, the increase of a tire vertical load via the ASS is explored to further shorten the braking distance under the condition that the trajectory of the sprung mass and suspension space is bounded to a predetermined limitation. Finally, a favorable control simulation consequence is obtained, validating the effectiveness of the proposed control scheme.