**Peter Girovský \*, Jaroslava Žilková and Ján Ka ˇnuch**

Department of Electrical Engineering and Mechatronics, Faculty of Electrical Engineering and Informatics, Technical University of Košice, Letná 9, 042 00 Košice, Slovakia; jaroslava.zilkova@tuke.sk (J.Ž.); jan.kanuch@tuke.sk (J.K.)

**\*** Correspondence: peter.girovsky@tuke.sk; Tel.: +421-55-602-2270

Received: 31 March 2020; Accepted: 6 June 2020; Published: 11 June 2020

**Abstract:** The paper presents the study of an anti-lock braking system (ABS) that has been complemented by a fuzzy controller. The fuzzy controller was used to improve the braking performance of the vehicle, particularly in critical situations, for example, when braking a vehicle on wet road. The controller for the ABS was designed in the MATLAB/Simulink program. The designed controller was simulated on a medium-size vehicle model. During testing, three braking systems were simulated on the vehicle model. We compared the performance of a braking system without an ABS, a system with a threshold-based conventional ABS, and a braking system with the proposed ABS with a fuzzy controller. These three braking systems were simulation tested during braking the vehicle on a dry straight road and on a road with combined road adhesion. A maneuverability test was conducted, where the vehicle had to avoid an obstacle while braking. The results of each test are provided at the end of the paper.

**Keywords:** anti-lock braking system; fuzzy logic system; controller; vehicle; simulation
