@article{oai:niigata-u.repo.nii.ac.jp:00003838,
 author = {横山, 誠 and 岩田, 義明 and 片寄, 真二 and 今村, 政道 and 新部, 誠},
 issue = {611},
 journal = {日本機械学会論文集. C編, 日本機械学会論文集. C編},
 month = {Jul},
 note = {Current control algorithms for antilock braking system (ABS) are mostly table-driven and should be frequently modified through various experiments, because the braking dynamics are highly nonlinear with system uncertaintieS. In this paper, a new control algorithm is proposed for ABS using the theory of sliding mode control based on a linearized system model, which represents nonlinearities as external disturbances. The proposed sliding mode controller guarantees a highly robust performance against large variations in the system parameters and disturbances. Furthermore, a road surface estimation scheme using a disturbance observer is proposed in order to determine the optimal reference input. Simulation results reveal the advantages of the proposed method in comparison with conventional linear controllers.},
 pages = {2302--2307},
 title = {スライディングモード制御によるアンチロックブレーキシステム},
 volume = {63},
 year = {1997}
}