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Mathematical Problems in Engineering
Volume 2015, Article ID 896859, 10 pages
http://dx.doi.org/10.1155/2015/896859
Research Article

Dynamic Control Applied to a Laboratory Antilock Braking System

1Departamento de Ciencias Tecnológicas, Universidad de Guadalajara, Centro Universitario de la Ciénega, Avenida Universidad 1115, 47820 Ocotlán, JAL, Mexico
2Centro de Investigación y de Estudios Avanzados (CINVESTAV) del IPN, Unidad Guadalajara, Avenida Científica, Colonia El Bajío, 4010 Zapopan, JAL, Mexico
3Department of Information Engineering, Computer Science and Mathematics, Center of Excellence DEWS, University of L’Aquila, Via G. Gronchi 18, 67100 L’Aquila, Italy

Received 11 September 2014; Revised 30 December 2014; Accepted 30 December 2014

Academic Editor: Mehmet Onder Efe

Copyright © 2015 Cuauhtémoc Acosta Lúa et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

The control of an antilock braking system is a difficult problem due to the existence of nonlinear dynamics and uncertainties of its characteristics. To overcome these issues, in this work, a dynamic nonlinear controller is proposed, based on a nonlinear observer. To evaluate its performance, this controller has been implemented on an ABS Laboratory setup, representing a quarter car model. The nonlinear observer reconstructs some of the state variables of the setup, assumed not measurable, to establish a fair benchmark for an ABS system of a real automobile. The dynamic controller ensures exponential convergence of the state estimation, as well as robustness with respect to parameter variations.