Application of fuzzy control algorithms for electric vehicle antilock braking/traction control systems

P. Khatun, C. M. Bingham, N. Schofield, P. H. Mellor

Research output: Contribution to journalArticlepeer-review

171 Citations (Scopus)


The application of fuzzy-based control strategies has recently gained enormous recognition as an approach for the rapid development of effective controllers for nonlinear time-variant systems. This paper describes the preliminary research and implementation of a fuzzy logic based controller to control the wheel slip for electric vehicle antilock braking systems (ABSs). As the dynamics of the braking systems are highly nonlinear and time variant, fuzzy control offers potential as an important tool for development of robust traction control. Simulation studies are employed to derive an initial rule base that is then tested on an experimental test facility representing the dynamics of a braking system. The test facility is composed of an induction machine load operating in the generating region. It is shown that the torque-slip characteristics of an induction motor provides a convenient platform for simulating a variety of tire/road μ-σ driving conditions, negating the initial requirement for skid-pan trials when developing algorithms. The fuzzy membership functions were subsequently refined by analysis of the data acquired from the test facility, while simulating operation at a high coefficient of friction. The robustness of the fuzzy-logic slip regulator is further tested by applying the resulting controller over a wide range of operating conditions. The results indicate that ABS/traction control may substantially improve longitudinal performance and offer significant potential for optimal control of driven wheels, especially under icy conditions where classical ABS/traction control schemes are constrained to operate very conservatively.

Original languageEnglish
Article number1232699
Pages (from-to)1356-1364
Number of pages9
JournalIEEE Transactions on Vehicular Technology
Issue number5
Publication statusPublished - 23 Sep 2003
Externally publishedYes


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