Sliding Mode Control Combined with Time-Delay Compensation for an Anti-Lock Braking Systems

In this work, we present a Sliding Mode Time Delay Control (SMTDC) approach for regulating the Anti-Lock Braking System (ABS) in autonomous vehicles. The Sliding Mode Control (SMC) technique is employed to maintain optimal wheel slip, ensuring robust performance against disturbances, uncertainties, and system nonlinearities. A carefully designed sliding surface and control law guarantee finite-time convergence to the sliding manifold. Time Delay Control (TDC) is used to compensate for time lags and delays in the system, which are common in practical applications due to sensor and actuator dynamics. Lyapunov stability theory is used to prove global asymptotic stability. Simulation results demonstrate the effectiveness of the (SMTDC) approach in enhancing ABS performance, including wheel slip regulation, braking efficiency, and robustness to disturbances, advancing the safety of autonomous vehicle systems.