Data-driven model-free slip control of anti-lock braking systems using reinforcement Q-learning

Braking results for the control systems with NFQCDA-1 controller (green lines), relay feedback controller (blue lines) and OPI controller (red lines): (a) normalized upper wheel speed; (b) normalized lower wheel speed; (c) controlled slip and reference (black dotted); (d) control signals and actuator dead zone activation threshold (black dotted).122