Research Article
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 |
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