Design and validation of a control algorithm for an anti-lock braking system on off-highway vehicles

A sliding mode controller for anti-lock braking on off-highway vehicles was designed. The relevant dynamics of the vehicle in combination with the road friction is described. After which a sliding mode controller is used to control a 1/4 vehicle model. Pure dynamics are validated and compared to the results with the controller. Five discussion points were observed and explained. The research show the effectiveness of sliding mode control for an ABS with the recommendation to further look into various parameters.