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A Modified HOSM Controller Applied to an ABS Laboratory Setup with Adaptive Parameter

Author

Listed:
  • Claudia Carolina Vaca García
  • Luis Adrián Ferré Covantes
  • Antonio Navarrete Guzmán
  • Claudia Verónica Vera Vaca
  • Cuauhtémoc Acosta Lúa

Abstract

The antilock braking system (ABS) is an electromechanical device whose controller is challenging to design because of its nonlinear dynamics and parameter uncertainties. In this paper, an adaptive controller is considered under the assumption that the friction coefficient is unknown. A modified high-order sliding-mode controller is designed to enhance the controller performance. The controller ensures tracking of the desired reference and identifies the unknown parameter, despite parametric variations acting on the real system. The stability proof is done using the Lyapunov approach. Some numerical and experimental tests evaluate the controller on a mechatronic system that represents a quarter-car model.

Suggested Citation

  • Claudia Carolina Vaca García & Luis Adrián Ferré Covantes & Antonio Navarrete Guzmán & Claudia Verónica Vera Vaca & Cuauhtémoc Acosta Lúa, 2021. "A Modified HOSM Controller Applied to an ABS Laboratory Setup with Adaptive Parameter," Mathematical Problems in Engineering, Hindawi, vol. 2021, pages 1-12, June.
    • Handle: RePEc:hin:jnlmpe:3855934
    DOI: 10.1155/2021/3855934
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