A fuzzy sliding mode control of anti-lock system featured by magnetorheological brakes: performance evaluation via the hardware-in-the-loop simulation

The aim of this work is to propose a new type of anti-lock braking system (ABS) using a magneto-rheological (MR) brake and validate its effectiveness by implementing a fuzzy logic sliding mode (FLSM) controller via the hardware-in-the-loop-simulation (HILS). Firstly, a quarter vehicle model integrated with the tire model is established to analyze control performance of MR brake during the braking process under different road conditions. Secondly, a disc type MR brake is designed on the basis of a mathematical model and the field-dependent braking torque is measured. Subsequently, in order to investigate the control performance of the proposed ABS, the software model is combined with the hardware configuration which is built by Matlab/Simulink. It is shown via HILS that the proposed ABS associated with the FLSM controller can provide high response speed and excellent braking control effect. In this work, control responses from the FLSM controller are also compared with those achieved from the conventional sliding mode controller in order to emphasize the significance of the control strategy to enhance ABS performances.