Nonlinear control design of anti-lock braking systems combined with active suspensions

摘要

This paper develops the anti-lock braking control system integrated with active suspensions applied to a quartercar model by employing the nonlinear backstepping design schemes. In emergency, although the braking distance can be reduced by the control torque from disk/drum brakes, the braking time and distance can be further improved if the normal force generated from active suspension systems is considered simultaneously. Individual controller is designed for each subsystem and an integrated algorithm is constructed to coordinate these two subsystems. As a result, the integration of anti-lock braking and active suspension systems indeed enhances the system performance because of reduction of braking time and distance.