摘要：AbstractThis study aims to evaluate the robustness of Adaptive Model Prediction Controllers (AMPC) and First Order Sliding Mode Controllers (FOSMC) facing modelling uncertainties or external disturbances when used to track longitudinal tire slip ratio. Changing road conditions create uncertainties in the friction coefficient of the tire-road interface, and the uncertainty of mass is caused by over/under loads on the nominal mass of the vehicle. the external perturbations are generally linked to the angle of inclination of the road. The efficiency of the controllers, in terms of ensuring the minimum braking time in the face of uncertainties and perturbations, is evaluated by numerical simulation and detailed comparison.
关键词：KeywordsAnti-lock braking systemAdaptive Model Predictive ControlFirst Order Sliding Mode ControlOptimal braking torqueLongitudinal slip ratioUncertaintiesExternal perturbationRobustness
