Anti-lock braking control design using a nonlinear model predictive approach and wheel information

Francesco Pretagostini, Barys Shyrokau, Giovanni Berardo

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

8 Citations (Scopus)
98 Downloads (Pure)


Since several decades anti-lock braking systems rely on rule-based control strategies. Extensive literature review highlighted the possibility that significant improvements could be achieved if ABS controllers were redesigned taking advantage of the technological improvements achieved in the last decade. This work aims to verify this statement and quantifying the potential improvement by design of a novel ABS algorithm. The controller, based on state-of-the-art hardware, uses a Model Predictive Control (MPC) approach and potentially available wheel information as the pillars of its design. The newly proposed ABS is then tested on Toyota's high-end vehicle simulator and benchmarked against its industrial counterpart. A comprehensive set of manoeuvres, including friction jumps and rough road braking scenarios, is deployed to assess performance and robustness of the presented design. The analysis showed substantial reduction of the braking distance and improved steering-ability. Furthermore, robustness against external factors is demonstrated to be comparable with the industrial benchmark.

Original languageEnglish
Title of host publicationProceedings - 2019 IEEE International Conference on Mechatronics (ICM 2019)
Place of PublicationPiscataway, NJ, USA
ISBN (Electronic)978-1-5386-6959-4
Publication statusPublished - 2019
Event2019 IEEE International Conference on Mechatronics, ICM 2019 - Ilmenau, Germany
Duration: 18 Mar 201920 Mar 2019


Conference2019 IEEE International Conference on Mechatronics, ICM 2019

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project

Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


  • Antilock Braking System
  • high-end simulation
  • load sensing
  • Model Predictive Control
  • wheel slip control


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