An Adaptive Controller Applied to an Anti-Lock Braking System Laboratory

Controlling an antilock braking system is difficult due to the existence of nonlinear dynamics and the uncertainty of its characteristics and parameters. To overcome these issues, we propose two controllers. The first controller is designed under the complete knowledge of the parameters hypothesis. Then, an adaptive nonlinear controller is designed using an estimate of the tire-road friction coefficient. This second controller is implemented in an ABS laboratory setup in order to test its performance, and the results show that the adaptive controller ensures the tracking of the desired reference and identifies the unknown parameter.