Comparative analysis of two non-linear observers for estimation of tyre/road contact in the presence of imperfect measurements

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Comparative analysis of two non-linear observers for estimation of tyre/road contact in the presence of imperfect measurements

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© The Institution of Engineering and Technology
Published

This study presents a comparative study of a sliding-mode observer-based scheme and an adaptive observer-based scheme designed to estimate a road surface condition parameter. The effect of imperfect measurements associated with the wheel angular velocity is explored. A detailed analytical analysis is presented and results are shown from a variety of simulations. Both schemes assume only wheel angular velocity is measured and use an observer to reconstruct the states and the road condition parameter.

Inspec keywords: road vehicles; angular velocity; road safety; rolling friction; variable structure systems; observers; vehicle dynamics; adaptive systems

Other keywords: adaptive observer; tyre-road contact estimation; wheel angular velocity; road condition parameter; sliding-mode observer; road surface; nonlinear observer

Subjects: Control technology and theory (production); Tribology (mechanical engineering); Multivariable control systems; Road-traffic system control; Simulation, modelling and identification

References

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