Abstract
This paper performs a critical analysis of five fuzzy control solutions dedicated to Anti-lock
Braking Systems (ABSs). The requirements in ABS control are clearly stated to help the analysis.
The detailed mathematical model of controlled plant is derived and simplified for control design
with focus on tire slip control. A new fuzzy control solution based on a class of Takagi-Sugeno
fuzzy controllers is proposed. This class of fuzzy controllers combines separately designed PI
and PID controllers corresponding to a set of simplified models of controlled plant linearized
in the vicinity of important operating points. Simulation results validate the suggested fuzzy
control solution in controlling the relative slip of a single wheel.
