Islamic Azad University

Qazvin Branch
Faculty of Electronic, Computer & IT Department of Mechatronic
Thesis M.Sc.
On Mechatronic Engineering
Subject
Data-Oriented Learnable Controller
For Antilock Braking System
Thesis Advisor
Dr. Ahmad Habibizad Navin
Consulting Advisor
Dr. Mir Kamal Mirnia
By
Seyed Amin Sadjadi Alamdari
Winter 2010


Abstract

Slip in brake system causes loosing steerability and large stop distance.
Antilock brake system introduced to prevent wheels from being lock up. Brake
performance depends on various parameters such as brake actuator, tires, road surface
etc. Hence antilock brake system is a time variant nonlinear system. Knowledge
based controllers of these types of systems has adequate performance. Since fuzzy
controllers handle human knowledge it have good performance to control antilock
brake system. However, high process time of fuzzy controllers is its disadvantage.
Data oriented controller models the fuzzy controller to reduce its process time.
Problem Solution Data Structure (PSDS) has been introduced as a data-oriented
model of fuzzy controller to reduce the response time [1]. Data oriented controller
inherits fuzzy controllers performance. The modeled Data-oriented Fuzzy controller
could control vehicle in dry road surface and could not control it in other road
surfaces. Data oriented structure is able to learn. Therefore, learning in data oriented
controller could be done with different learning functions. This dissertation
introduces learnable data oriented controller with fuzzy, neuro-fuzzy and self tune PI
learning functions. Obtained simulation results show that learning functions could be
adequate method to learn the data oriented controller. Controlling antilock brake
system in all road surfaces, robustness against noise and disturbance and low process
time are its advantage.

Thesis Outcome

I have carried out a research project with Dr. Ahmad Habibizad Navin, my
masters thesis supervisor and the dean of faculty in computer department at
SRBIAU (Science and Research Branch of the Islamic Azad University), on
learnable data-oriented controller for controlling ABS (Anti-lock Braking System)
that was published in the proceedings of 2011 IEICE Electronics Express [2] and
proceedings of 2010 IEEE International Conference on Computer Design and
Applications (ICCDA)[3]. In this research I had the chance to work with Dr. Mir
Kamal Mirnia who was my masters thesis adviser and a retired professor at Tabriz
University.


References

[1] M. N. F. Ahmad Habibizad Navin, Mohamad Teshnelab, and Ehsan Shahamatnia, "Fuzzy
Based Problem-Solution Data Structure as a Data Oriented Model for ABS Controlling,"
Proceeding of World Academy of Science, Engineering and Technology, waset, vol. 20,
April 2007.
[2] S. A. S. A. a. M. K. M. Ahmad Habibizad Navin, "Learnable Data-Oriented Controller for
ABS in Brake By Wire Vehicles," IEICE Electron. Express,, vol. 8, No. 6, pp. 367-371,
2011.
[3] S. A. S. A. Ahmad Habibizad Navin, Mir Kamal Mirnia, "Learnable Problem Solution Data
Structure ABS Control for Brake By Wire Vehicles," presented at the International
Conference On Computer Design And Appliations, Qinhuangdao, Hebei, China, 2010.