TY - GEN
T1 - Vehicle state and friction force estimation using nonlinear observer strategies
AU - Zhao, Linhui
AU - Liu, Zhiyuan
AU - Chen, Hong
PY - 2008
Y1 - 2008
N2 - Approaches to estimate friction forces and vehicle states are presented in this paper. Firstly, based on the dynamical equations of the wheels, the estimates of the longitudinal friction forces are achieved by means of sliding mode unknown input estimation technique. Secondly, using the longitudinal friction forces estimated and the nonlinear relation between lateral and longitudinal friction force of the tire, a new nonlinear vehicle dynamic model is established. Then, based on this model, nonlinear observers for estimation of longitudinal and lateral velocities are modified and extended to work for different road surface conditions and in critical driving maneuvers. The input-to-state stability results are given. The friction forces and vehicle states estimated are compared to those of the simulator veDYNA. The results show the effectiveness of the proposed approaches.
AB - Approaches to estimate friction forces and vehicle states are presented in this paper. Firstly, based on the dynamical equations of the wheels, the estimates of the longitudinal friction forces are achieved by means of sliding mode unknown input estimation technique. Secondly, using the longitudinal friction forces estimated and the nonlinear relation between lateral and longitudinal friction force of the tire, a new nonlinear vehicle dynamic model is established. Then, based on this model, nonlinear observers for estimation of longitudinal and lateral velocities are modified and extended to work for different road surface conditions and in critical driving maneuvers. The input-to-state stability results are given. The friction forces and vehicle states estimated are compared to those of the simulator veDYNA. The results show the effectiveness of the proposed approaches.
KW - Friction force estimation
KW - Nonlinear observer
KW - Sliding mode observer
KW - Vehicle state estimation
UR - https://www.scopus.com/pages/publications/52449100448
U2 - 10.1109/CHICC.2008.4605596
DO - 10.1109/CHICC.2008.4605596
M3 - 会议稿件
AN - SCOPUS:52449100448
SN - 9787900719706
T3 - Proceedings of the 27th Chinese Control Conference, CCC
SP - 667
EP - 671
BT - Proceedings of the 27th Chinese Control Conference, CCC
T2 - 27th Chinese Control Conference, CCC
Y2 - 16 July 2008 through 18 July 2008
ER -