Higher-order sliding mode observer for estimation of tyre friction in ground vehicles
作者： Jagat Jyoti Rath , Yeng Chai Soh , Michael Defoort , Kalyana Chakravarthy Veluvolu
DOI: 10.1049/IET-CTA.2013.0593
关键词: Work (thermodynamics) 、 Control theory 、 Mode (statistics) 、 Convergence (routing) 、 Lipschitz continuity 、 Observer (quantum physics) 、 Nonlinear system 、 Engineering 、 Road traffic control 、 Vehicle dynamics
摘要: The estimation of friction coefficient for a vehicle when it traverses on different surfaces has been an important issue. In this work, the longitudinal dynamics, torsional tyre dynamics and non-linear LuGre are integrated to model quarter dynamics. road adhesion in is unknown varies with contact surface. To address issue, authors consider class uncertain systems that covers develop higher-order sliding mode observer based supertwisting algorithm state input estimations. Under Lipschitz conditions functions, convergence error established. By estimating coefficient, can be estimated. Simulation results demonstrate effectiveness proposed estimation.
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