Abstract
For the control of anti-lock brake system (ABS), a longitudinal four-wheel vehicle model with brake actuator is described and a sliding mode controller with pulse width modulation (PWM) method has been developed for passenger vehicles. In our research, we introduced actuator dynamics of solenoid-solenoid valve type in system equation and derived the sliding mode control input theoretically. We propose using PWM method to compensate for the discrete nature of actuator dynamics by duty control. The effectiveness of the proposed control algorithms was confirmed by vehicle test on an In-door test bench that was specially constructed for the purpose concerned.