Abstract
This paper has presented the study to apply the sliding mode control for the development of the servo control system of the brake. At first, the preliminary method was developed and evaluated by the actual vehicle experiments. From those results, it was found that the robustness can not be assured in some cases, because the output response is delayed by the saturation of the control input and by the existence of the lags of sensors and actuators ignored in the controller design. Then, the adaptive sliding mode control was newly developed to avoid these problems by the method that the magnitude of the nonlinear part of input was changed adaptively by introducing the tire model into the control algorithm and by estimating the parameter changes.