Development of the optimal ABS controller

In this project, we aimed to develop an ABS control algorithm, and to implement the developed algorithm in an experimental setup. The algorithm provides optimal braking performance without any information of the road conditions. The basis for our algorithm is the Extremum Seeking Algorithm (ESA). ESA can be used in such situations in which the optimum operating point of a system is not known in advance. For example in emergency braking cases that are sudden, the problem of maximizing the braking force between the wheel and the road in an unknown road condition is an example of the application area of the ESA. In this project, an ESA-based ABS control algorithm was developed. As a novelty to the literature, by making the parameters of the search algorithm adaptive, an Adaptive Extremum Seeking Algorithm based ABS controller was proposed. In this way, the algorithm finds the optimum operating point quckly, and after finding it, by adapting the parameters, braking with low-amplitude oscillations around the optimum operating point is accomplished. In addition, an ABS experimental setup was purchased for the project and real time tests of the algorithm were conducted in this setup.