Asymmetric Barrier Lyapunov Function-Based Wheel Slip Control for Antilock Braking System

Table 3

The performance comparison of antilock control based on ABLF and PBM control.

Comparison items	Antilock control based on ABLF	PBM control
Tracking the optimum slip ratio without steady state error	Yes	No
Tracking the maximum friction coefficient without steady state error	Yes	No
Stopping time	17 s	24.4 s
Stopping distance	625 m	885 m
Only operating in the healthy region and the light slip region	Yes	No