TY - GEN
T1 - Wheel slip estimation based on real-time identification of tire-road friction conditions
AU - Chen, Changfang
AU - Jia, Yingmin
AU - Matsuno, Fumitoshi
PY - 2013
Y1 - 2013
N2 - This paper is to develop efficient nonlinear observers for wheel slip with real-time friction parameter estimation only using wheel angular velocity. The model-based wheel slip control approach is adopted, which models the friction forces between the tires of the vehicle and the road surface, and an adaptive algorithm is designed for each wheel. It is shown that the adaptive observer is uniformly globally asymptotically stable under the condition of uniform δ-persistency of excitation. In addition, a stronger local stability result is obtained, where uniform local exponential stability is proven. Simulation results are provided to demonstrate the performance of the adaptive observer, even on the low friction road surface.
AB - This paper is to develop efficient nonlinear observers for wheel slip with real-time friction parameter estimation only using wheel angular velocity. The model-based wheel slip control approach is adopted, which models the friction forces between the tires of the vehicle and the road surface, and an adaptive algorithm is designed for each wheel. It is shown that the adaptive observer is uniformly globally asymptotically stable under the condition of uniform δ-persistency of excitation. In addition, a stronger local stability result is obtained, where uniform local exponential stability is proven. Simulation results are provided to demonstrate the performance of the adaptive observer, even on the low friction road surface.
UR - https://www.scopus.com/pages/publications/84883535772
M3 - 会议稿件
AN - SCOPUS:84883535772
SN - 9781479901777
T3 - Proceedings of the American Control Conference
SP - 2815
EP - 2820
BT - 2013 American Control Conference, ACC 2013
T2 - 2013 1st American Control Conference, ACC 2013
Y2 - 17 June 2013 through 19 June 2013
ER -