Dynamic Modeling and Control of Antilock Braking System for Four Wheel Vehicles

Abstract

Nonlinear dynamics of longitudinal and lateral traction of ground vehicles has been investigated in this work and later on used these dynamics on usefulness of brake steer system which uses differential brakes for small steering interventions to keep the vehicle on line. A controller design for Antilock braking (ABS) of a four wheel vehicle whose two rear wheels are braking and front wheels are non-braking is proposed. The major part of our work is tuning to the suitable braking force for two rear wheels and minimizing the stopping distance in short time while front wheels are not braking then finding steer of vehicle by applying different forces on rear right and rear left wheels. These two different forces produce rotational torque in vehicle . These are known as differential brakes which are commonly used to steer the vehicle and its lateral position. Stability has been discussed. Both lateral and longitudinal control motion of the vehicle are simulated. The proposed control scheme is successfully tested in MATLAB simulation.