國立臺灣師範大學電機工程學系W.-Y. WangM.-C. ChenS.-F. Su2014-10-302014-10-302012-08-010005-1098http://rportal.lib.ntnu.edu.tw/handle/20.500.12235/31923This paper proposes a novel method for identification and robust adaptive control of an anti-lock braking system with an active suspension system by using the hierarchical Takagi–Sugeno (T–S) fuzzy-neural model. The goal of a conventional ABS control system is to rapidly eliminate tracking error between the actual slip ratio and a set reference value in order to bring the vehicle to a stop in the shortest time possible. However, braking time and stopping distance can be reduced even further if the same control system also simultaneously considers the state of the active suspension system. The structure learning capability of the proposed hierarchical T–S fuzzy-neural network is exploited to reduce computational time, and the number of fuzzy rules. Thus, this proposed controller is applied to achieve integrated control over the anti-lock braking system (ABS) with the active suspension system. Our simulation results, presented at the end of this paper, show that the proposed controller is extremely effective in integrated control over the ABS and the active suspension system.Takagi–SugenoHierarchical FNNsActive suspension systemRobust adaptive controlAnd anti-lock braking