Sliding mode slip-deceleration control for brake-by-wire control systems

In Anti-lock Braking Systems (ABS) two output variables are usually considered for regulation: wheel deceleration and wheel longitudinal slip. The wheel deceleration can be easily measured: however, it can be dynamically critical if the road-surface rapidly changes. On the other hand, the longitudinal slip offers good dynamical properties, but the slip measurement is critical as it requires the estimation of the longitudinal vehicle speed. This work proposes a Sliding Mode approach to the design of an active braking controller whose controlled variable is a convex combination of wheel deceleration and wheel slip