Extended State Observer-Based Backstepping Sliding Mode Control for Wheel Slip Tracking

The wheel slip controller (WSC) serves as the cornerstone of the anti-lock braking system (ABS). It is necessary to investigate and test a nonlinear robust WSC since the friction between the road and tire is a nonlinear function of wheel slip. In this research, a backstepping sliding mode controller (BSMC) is designed to control the wheel slip of a quarter-vehicle model. Extended state observer (ESO) is used in combination with the design of the BSMC in order to estimate the total uncertainty in the system. The viability of the proposed controllers is then verified in numerical simulation, and the performance of the proposed controllers is evaluated using three different key performance indicators (KPIs).