For the control of anti-lock brake system (ABS), a longitudinal four-wheel
vehicle model with brake actuator is described and a sliding mode controlle
r with pulse width modulation (PWM) method has been developed for passenger
vehicles. In our research, we introduce actuator dynamics of solenoid-sole
noid valve type in system equation and derive the sliding mode control inpu
t theoretically. We propose using PWM method to compensate for the discrete
nature of actuator dynamics by duty control. The effectiveness of the prop
osed control algorithms was confirmed by vehicle test on an in-door test be
nch that was specially constructed for the purpose concerned.