Sliding Mode Based Coordinated Active Suspension and ABS Control for Improved Vehicle Safety

A disturbance observer (DO) based on sliding mode control is proposed for antilock braking systems (ABSs) with an active suspension system (ASS) is presented in this article to improve the vehicle's braking distance. The proposed method has improved the stopping distance as compared to conventional ABS, where the condition of rattle space limit has also been considered. The design of control law is based on a quarter-car vehicle model. The proposed ABS controller does not require knowledge of the friction coefficient between the tyre and the road. The Lyapunov candidate function of stability is used to demonstrate the controller's closed-loop stability. Simulation on various road conditions is used to verify the effectiveness of the designed controller.