In this study, a fuzzy real time control algorithm for ABS is developed. For simulating the vehicle and ABS, a 14DOF vehicle model with Dugoff tire model and a 4DOF actuator model is adopted. From the result of simulation, actuator dynamics was proven to be an important factor, which should be included in the model. A Duty-Factor concept is proposed for a precise control. Bosch algorithm and PD controller using Duty-Factor are compared with various fuzzy logic controllers. A fuzzy logic controller with fuzzy sliding surface, which retain the merits of fuzzy systems, showed good performance in terms of computation time.
