Higher‐order sliding mode observer for estimation of tyre friction in ground vehicles. Issue 6 (1st April 2014)

• Record Type: Journal Article
• Authors: Rath, Jagat Jyoti; Veluvolu, Kalyana Chakravarthy; Defoort, Michael; Soh, Yeng Chai
• Is Part Of: IET control theory & applications. Volume 8:Issue 6(2014)
• Page Start: 399
• Page End: 408
• Publication Date: 2014-04-01
• Subjects: automobile industry -- friction -- nonlinear functions -- nonlinear systems -- observers -- road vehicles -- state estimation -- tyres -- uncertain systems -- variable structure systems -- vehicle dynamics -- road traffic control; higher‐order sliding mode observer -- tyre friction estimation -- ground vehicles -- friction coefficient estimation -- longitudinal vehicle dynamics -- torsional tyre dynamics -- nonlinear LuGre friction dynamics -- quarter vehicle dynamics -- road adhesion coefficient -- contact surface -- nonlinear uncertain systems -- supertwisting algorithm -- unknown input estimations -- state input estimations -- nonlinear functions -- Lipschitz conditions -- estimation error convergence -- automotive vehicle industry; Control theory -- Periodicals; Automatic control -- Periodicals; 629.8312
• DOI: 10.1049/iet-cta.2013.0593
• Languages: English
• ISSNs: 1751-8644

Abstract

Abstract : The estimation of friction coefficient for a vehicle when it traverses on different surfaces has been an important issue. In this work, the longitudinal vehicle dynamics, the torsional tyre dynamics and the non‐linear LuGre friction dynamics are integrated to model the quarter vehicle dynamics. The road adhesion coefficient in the vehicle dynamics is unknown and varies with the contact surface. To address this issue, the authors consider a class of non‐linear uncertain systems that covers the vehicle dynamics and develop a higher‐order sliding mode observer based on supertwisting algorithm for state and unknown input estimations. Under Lipschitz conditions for the non‐linear functions, the convergence of the estimation error is established. By estimating the road adhesion coefficient, the coefficient of friction can be estimated. Simulation results demonstrate the effectiveness of the proposed observer for state and unknown input estimation.