A non-linear model-based slip controller for electropneumatic brakes in heavy commercial vehicles

Heavy commercial vehicles are commonly equipped with an air brake system. Under panic braking or braking on slippery road surfaces, some wheels of the vehicle may get locked, resulting in the loss of vehicle stability or steerability. An Antilock Braking System (ABS) prevents the wheels from locking, and ensures vehicle stability and steerability. The actual control algorithms of commercially available ABS are proprietary and might have required extensive experimental calibration. This paper presents a model-based slip control scheme to prevent locking of wheels by regulating the brake chamber pressure, and this has been implemented in an experimental setup.