Modelling and control of an intelligent antilock braking system

This thesis describes an intelligent approach to control an Antilock Braking System (ABS) employing a Gradient Descent Method for on-line adaptation of Fuzzy-Sliding Mode Controller (on-line FSMC). This is a new method that is applied into the ABS which includes the estimation of learning parameters...

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Main Author: Wijaya, Moh. Lutfi
Format: Thesis
Language:English
Published: 2005
Subjects:
Online Access:http://eprints.utm.my/id/eprint/3486/1/MohLuftiWijayaMFKM2005.pdf
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spelling my-utm-ep.34862018-06-25T01:04:42Z Modelling and control of an intelligent antilock braking system 2005-12 Wijaya, Moh. Lutfi TJ Mechanical engineering and machinery This thesis describes an intelligent approach to control an Antilock Braking System (ABS) employing a Gradient Descent Method for on-line adaptation of Fuzzy-Sliding Mode Controller (on-line FSMC). This is a new method that is applied into the ABS which includes the estimation of learning parameters to minimize the prediction error between the desired input and the actual output in the feedback control loop. The fuzzy system is developed using Adaptive Neuro-Fuzzy Inference System (ANFIS) by training the input-output data of the ABS based on Sliding Mode Control (SMC). This study also describes another new approach to robust control ABS employing Active Force Control (AFC) scheme. The main objective of the proposed control strategies is to control the optimum wheel slip value of the ABS that include nonlinearities, parametric uncertainties and disturbances in order to prevent the controlled wheel from becoming fully locked.. A modelling and simulation study was rigorously carried-out on a simplified quarter car braking model in the straightforward speed (straight line braking) with the applied control schemes taken into account. A comparative study between a number of control strategies was also performed to demonstrate the differences in performance. The simulation result showed that the on-line FSMC strategy demonstrated its superiority in controlling the ABS than the SMC strategy. The simulation results showed also that the AFC scheme demonstrated its robustness even in the presence of disturbance 2005-12 Thesis http://eprints.utm.my/id/eprint/3486/ http://eprints.utm.my/id/eprint/3486/1/MohLuftiWijayaMFKM2005.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Mechanical Engineering Faculty of Mechanical Engineering
institution Universiti Teknologi Malaysia
collection UTM Institutional Repository
language English
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
Wijaya, Moh. Lutfi
Modelling and control of an intelligent antilock braking system
description This thesis describes an intelligent approach to control an Antilock Braking System (ABS) employing a Gradient Descent Method for on-line adaptation of Fuzzy-Sliding Mode Controller (on-line FSMC). This is a new method that is applied into the ABS which includes the estimation of learning parameters to minimize the prediction error between the desired input and the actual output in the feedback control loop. The fuzzy system is developed using Adaptive Neuro-Fuzzy Inference System (ANFIS) by training the input-output data of the ABS based on Sliding Mode Control (SMC). This study also describes another new approach to robust control ABS employing Active Force Control (AFC) scheme. The main objective of the proposed control strategies is to control the optimum wheel slip value of the ABS that include nonlinearities, parametric uncertainties and disturbances in order to prevent the controlled wheel from becoming fully locked.. A modelling and simulation study was rigorously carried-out on a simplified quarter car braking model in the straightforward speed (straight line braking) with the applied control schemes taken into account. A comparative study between a number of control strategies was also performed to demonstrate the differences in performance. The simulation result showed that the on-line FSMC strategy demonstrated its superiority in controlling the ABS than the SMC strategy. The simulation results showed also that the AFC scheme demonstrated its robustness even in the presence of disturbance
format Thesis
qualification_level Master's degree
author Wijaya, Moh. Lutfi
author_facet Wijaya, Moh. Lutfi
author_sort Wijaya, Moh. Lutfi
title Modelling and control of an intelligent antilock braking system
title_short Modelling and control of an intelligent antilock braking system
title_full Modelling and control of an intelligent antilock braking system
title_fullStr Modelling and control of an intelligent antilock braking system
title_full_unstemmed Modelling and control of an intelligent antilock braking system
title_sort modelling and control of an intelligent antilock braking system
granting_institution Universiti Teknologi Malaysia, Faculty of Mechanical Engineering
granting_department Faculty of Mechanical Engineering
publishDate 2005
url http://eprints.utm.my/id/eprint/3486/1/MohLuftiWijayaMFKM2005.pdf
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