Estimation Approach of Road Friction Coefficient Based on Nonlinear Observer
In this paper, an algorithm for estimating road friction coefficient based on nonlinear observer is proposed. To solve the problem of the real-time estimation of road friction coefficient while steering, a nonlinear vehicle model is established, and a full-order observer is developed to estimate fro...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Control and Information Technology
2012-01-01
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| Series: | Kongzhi Yu Xinxi Jishu |
| Subjects: | |
| Online Access: | http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2095-3631.2012.05.005 |
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| _version_ | 1849224670506647552 |
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| author | DING Xiying PEI Yanliang ZHANG Hongyue YU Hua |
| author_facet | DING Xiying PEI Yanliang ZHANG Hongyue YU Hua |
| author_sort | DING Xiying |
| collection | DOAJ |
| description | In this paper, an algorithm for estimating road friction coefficient based on nonlinear observer is proposed. To solve the problem of the real-time estimation of road friction coefficient while steering, a nonlinear vehicle model is established, and a full-order observer is developed to estimate front tire aligning moment. According to the vehicle lateral dynamic characteristics, and the error between the measurements of vehicle sensors and the outputs of vehicle model as observer’s Luenberger-type feedback terms, the vehicle sensors are fully used. By means of Lyapunov stability theory, the observer gain is confirmed, and the estimated algorithm is verified under Matlab/Simulink environment. The simulation results show that the estimated algorithm has a good performance under different road conditions. |
| format | Article |
| id | doaj-art-aaacc74e295b4962b70275d08fa6fbd7 |
| institution | Kabale University |
| issn | 2096-5427 |
| language | zho |
| publishDate | 2012-01-01 |
| publisher | Editorial Office of Control and Information Technology |
| record_format | Article |
| series | Kongzhi Yu Xinxi Jishu |
| spelling | doaj-art-aaacc74e295b4962b70275d08fa6fbd72025-08-25T06:56:33ZzhoEditorial Office of Control and Information TechnologyKongzhi Yu Xinxi Jishu2096-54272012-01-0129555982338622Estimation Approach of Road Friction Coefficient Based on Nonlinear ObserverDING XiyingPEI YanliangZHANG HongyueYU HuaIn this paper, an algorithm for estimating road friction coefficient based on nonlinear observer is proposed. To solve the problem of the real-time estimation of road friction coefficient while steering, a nonlinear vehicle model is established, and a full-order observer is developed to estimate front tire aligning moment. According to the vehicle lateral dynamic characteristics, and the error between the measurements of vehicle sensors and the outputs of vehicle model as observer’s Luenberger-type feedback terms, the vehicle sensors are fully used. By means of Lyapunov stability theory, the observer gain is confirmed, and the estimated algorithm is verified under Matlab/Simulink environment. The simulation results show that the estimated algorithm has a good performance under different road conditions.http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2095-3631.2012.05.005road friction coefficientvehicle modeltire aligning momentfull-order observernonlinear observer |
| spellingShingle | DING Xiying PEI Yanliang ZHANG Hongyue YU Hua Estimation Approach of Road Friction Coefficient Based on Nonlinear Observer Kongzhi Yu Xinxi Jishu road friction coefficient vehicle model tire aligning moment full-order observer nonlinear observer |
| title | Estimation Approach of Road Friction Coefficient Based on Nonlinear Observer |
| title_full | Estimation Approach of Road Friction Coefficient Based on Nonlinear Observer |
| title_fullStr | Estimation Approach of Road Friction Coefficient Based on Nonlinear Observer |
| title_full_unstemmed | Estimation Approach of Road Friction Coefficient Based on Nonlinear Observer |
| title_short | Estimation Approach of Road Friction Coefficient Based on Nonlinear Observer |
| title_sort | estimation approach of road friction coefficient based on nonlinear observer |
| topic | road friction coefficient vehicle model tire aligning moment full-order observer nonlinear observer |
| url | http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2095-3631.2012.05.005 |
| work_keys_str_mv | AT dingxiying estimationapproachofroadfrictioncoefficientbasedonnonlinearobserver AT peiyanliang estimationapproachofroadfrictioncoefficientbasedonnonlinearobserver AT zhanghongyue estimationapproachofroadfrictioncoefficientbasedonnonlinearobserver AT yuhua estimationapproachofroadfrictioncoefficientbasedonnonlinearobserver |