Robust nested sliding mode integral control for anti-lock brake system

An integral nested Sliding Mode (SM) block control is proposed to control an Anti-lock Brake System (ABS) by employing integral SM and nested SM concepts. The control problem is to achieve reference tracking for the slip rate, in such a way that the friction between the tyre and the road surface is good enough to control the car. The closed-loop system is robust in the presence of matched and unmatched perturbations. To show the performance of the proposed control strategy, a simulation study is carried on, where results show good behaviour of the ABS under variations in the road friction.