@article{ref1,
title="Modular design and testing for anti-lock brake actuation and control using a scaled vehicle system",
journal="International journal of vehicle modelling and testing",
year="2007",
author="Patil, Chinmaya B. and Longoria, Raul G.",
volume="2",
number="4",
pages="411-427",
abstract="A unique decoupling feature in frictional disk brake mechanisms, derived through kinematic analysis, enables modularised design of an Anti-lock Braking System (ABS) into a sliding mode system that specifies reference brake torque and a tracking brake actuator controller. Modelling of brake actuation, vehicle dynamics, and control design are described for a scaled vehicle system. The overall control scheme is evaluated by hardware-in-the loop testing of the electromechanical brake system, and experimental results for two braking scenarios illustrate the benefits of the modular control design scheme and its impact on practical hardware-in-the-loop implementation.<p />",
language="",
issn="1745-6436",
doi="10.1504/IJVSMT.2007.017122",
url="http://dx.doi.org/10.1504/IJVSMT.2007.017122"
}