Active fault tolerant control design in regenerative antilock braking system of electric vehicle with sensor fault

Regenerative Anti-lock Braking System (ABS) is a braking system in vehicle electric (electric vehicle) which can prevent locking on vehicle wheel and do recovery kinetic energy braking into a battery charge. In this paper, regenerative ABS applied in quarter car model approach. Regenerative ABS had many components in it one of them is a sensor. The sensor fault can reduce the safety level of the regenerative ABS. In this paper, Active Fault Tolerant Control (AFTC) scheme is applied to ABS regenerative ABS to accommodate the wheel speed sensor fault to improve system performance. Sliding Mode Controller is used in this regenerative ABS controller with k and epsilon () gain parameters 10 and 3 with a maximum overshoot of 18.95%, error steady state 0% and settling time of 0.08 seconds. Then, the AFTC algorithm works by using the residual calculation result (f) as the compensation value of the measurement signal. From the results of the response test after being applied the bias and sensitivity fault, the system that equipped with AFTC algorithm able to overcome the sensor fault up to 100%.