fa سیستم های دینامیکی (دینامیک خودرو، ارتعاشات، نویز، کنترل) Automotive Dynamics پژوهشي Research In this paper, an adaptive rule based controller for an anti-lock regenerative braking system (ARBS) of a series hybrid electric bus (SHEB) has been proposed. The proposed controller integrates the regenerative braking and wheel anti-lock functions by controlling the electric motor of the hybrid vehicle, without using any conventional mechanical anti-lock braking system. The performance of the proposed system is evaluated by a comprehensive vehicle dynamics model in MATLAB/Simulink. Using the designed ARBS, the braking and regenerative performances of SHEB have significantly improved in slippery roads while the slip ratios are kept between 0.15 and 0.20. Anti-Lock Regenerative Braking System, Series Hybrid Electric Vehicle, Slip Control, Adaptive Rule Based Controller 16 20 http://ase.iust.ac.ir/browse.php?a_code=A-10-39-1&slc_lang=fa&sid=1 M. Tehrani masih@ut.ac.ir 18003194753284600507 18003194753284600507 Yes Mechanical engineering department, University of Tehran, Tehran, Iran R. Hairi-Yazdi myazdi@ut.ac.ir 18003194753284600508 18003194753284600508 No Mechanical engineering department, University of Tehran, Tehran, Iran Ba. Haghpanah-Jahromi babak_haghpanah@yahoo.com 18003194753284600509 18003194753284600509 No Mechanical and industrial engineering department, Northeastern University, Boston, Massachusetts, USA V. Esfahanian evahid@ut.ac.ir 18003194753284600510 18003194753284600510 No Mechanical engineering department, University of Tehran, Tehran, Iran M. Amiri emeisam@gmail.com 18003194753284600511 18003194753284600511 No Mechanical engineering department, University of Tehran, Tehran, Iran R. Jafari sahellme@gmail.com 18003194753284600512 18003194753284600512 No Mechanical engineering department, University of Tehran, Tehran, Iran