Scholarlink

<p>This paper proposes a robust fractional-order super-twisting sliding mode control strategy for anti-lock braking systems (ABS). The controller combines the inherent robustness of the super-twisting algorithm with the chattering attenuation capabilities of fractional-order calculus based on the Caputo definition. A fractional-order quarter-vehicle ABS model is developed, incorporating nonlinear tire–road friction dynamics and actuator effects. The control objective is to accurately regulate the wheel slip ratio around its optimal value under significant variations in road conditions and external disturbances. Closed-loop stability and finite-time convergence are rigorously established using Lyapunov theory adapted to fractional-order systems. Extensive MATLAB/Simulink (R2024a version) simulations are conducted under diverse road conditions, including dry asphalt, dry concrete, wet road, snow, and ice. Comparative results with classical PID and conventional sliding mode controllers performs better among the compared controllers, reduced stopping distance, and noticeable chattering attenuation. Robustness against parametric uncertainties and disturbances is further confirmed through quantitative performance indices. A comprehensive sensitivity analysis by varying some keys parameters of the system while holding others at their nominal values. The proposed control scheme offers an effective trade-off between robustness, performance, and practical implementability for embedded automotive braking applications.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Flexible super twisting adaptive robust control for fractional antilock braking system

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年6月15日

查看全文
  • Emery Baroki Munphano,
  • Alain Kammogne Soup Tewa,
  • Blampain Eloi Jean Jacques

摘要

This paper proposes a robust fractional-order super-twisting sliding mode control strategy for anti-lock braking systems (ABS). The controller combines the inherent robustness of the super-twisting algorithm with the chattering attenuation capabilities of fractional-order calculus based on the Caputo definition. A fractional-order quarter-vehicle ABS model is developed, incorporating nonlinear tire–road friction dynamics and actuator effects. The control objective is to accurately regulate the wheel slip ratio around its optimal value under significant variations in road conditions and external disturbances. Closed-loop stability and finite-time convergence are rigorously established using Lyapunov theory adapted to fractional-order systems. Extensive MATLAB/Simulink (R2024a version) simulations are conducted under diverse road conditions, including dry asphalt, dry concrete, wet road, snow, and ice. Comparative results with classical PID and conventional sliding mode controllers performs better among the compared controllers, reduced stopping distance, and noticeable chattering attenuation. Robustness against parametric uncertainties and disturbances is further confirmed through quantitative performance indices. A comprehensive sensitivity analysis by varying some keys parameters of the system while holding others at their nominal values. The proposed control scheme offers an effective trade-off between robustness, performance, and practical implementability for embedded automotive braking applications.