A Study on the Vehicle Antilock System Based on Adaptive Neural Network Sliding Mode Control

Table 4

Parametric simulation analysis results of the full vehicle model of ABS vehicle.

Description	Parameters	Units	Uncontrolled	SMC	ADRBF-SMC
Settling value	Time	s	3.4770	2.4700	2.4690
	Left front wheel braking torque	N · m	9,967,856	659.2706	598.6706
	Right front wheel braking torque	N · m	9,303,373	659.2706	598.6198
	Left rear wheel braking torque	N · m	9,968,106	742.2228	1,117.432
	Right rear wheel braking torque	N · m	9,968,087	742.2228	1,117.163
	Braking distance	m	48.8480	34.7295	34.7225
Buffet amplitude	Left front wheel braking torque	N · m	—	142.64	20.148
	Right front wheel braking torque	N · m	—	142.64	0.008
	Left rear wheel braking torque	N · m	—	93.087	0.092
	Right rear wheel braking torque	N · m	—	93.087	0.078
	Left front wheel slip ratio	—	—	0.000371	0.00002
	Left rear wheel slip ratio	—	—	0.000371	0
	Right front wheel slip ratio	—	—	0.002260	0
	Right rear wheel slip ratio	—	—	0.002260	0