Abstract
The estimation of friction coefficient for a vehicle when it traverses on different surfaces has been an important issue. In this paper, a super-twisting algorithm based sliding mode observer is proposed to estimate the road adhesion coefficient, treated as an unknown input in the dynamics of a quarter-vehicle. By estimating the road adhesion coefficient, the coefficient of friction can be estimated. Simulation results show the effectiveness of the proposed observer in estimation of the road adhesion coefficient that changes with surface variations.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Canudas de Wit, C., Llnd, M.P., Shiralev, A.: A new nonlinear observer for tire/road distributed contact friction. In: Proceedings of the 42nd IEEE Conference on Decision and Control, pp. 2246–2251 (2003)
Alvarez, L., Yi, J., Horowitz, R., Olmos, L.: Dynamic Friction Model-Based Tire Road Friction Estimation and Emergency Braking Control. Journal of Dynamic Systems, Measurement and Control 127(1), 22–32 (2005)
Patel, N., Edwards, C., Spurgeon, S.: Comparative analysis of two non-linear observers for estimation of tyre/road contact in the presence of imperfect measurements. IET Control Theory & Applications 4(9), 1501–1510 (2010)
Magallan, G.: Maximization of the traction forces in a 2WD electric vehicle. IEEE Transactions on Vehicular Technology 60(2), 369–380 (2011)
Umeno, T., Ono, E., Asano, K., Ito, S.: Estimation of tire-road friction using tire vibration model. SAE technical Paper (2002)
Lee, D., Park, Y.: Sliding mode based parameter identification with application to tire pressure and tire-road friction. International Journal of Automotive Technology 12(4), 571–577 (2011)
Adcox, J., Ayalew, B., Tim Rhyne, S.C., Knauff, M.: Interaction of anti-lock braking systems with torsional tire dynamics. Tire and Science Technology 40(3), 171–185 (2012)
Wong, J.: Theory of Ground Vehicles. John Wiley & Sons (2008)
Pacejka, H., Sharp, R.: Shear force development by pneumatic tyres in steady state conditions: A reveiw of modelling aspects. Vehicle System Dynamics 20(3/4), 121–175 (1991)
Canudas de Wit, C., Tsiotras, P.: Dynamic tire friction models for vehicle traction control. In: Proceedings of the 38th IEEE Conference on Decision and Control, pp. 3746–3751 (1999)
Deur, J., Ivanovi, V., Pavkovi, D., Hrovat, D., Asgari, J., Troulis, M., Miano, C.: Experimental analysis and modelling of longitudinal tyre friction dynamics for abrupt transients. Vehicle System Dynamics 43(1), 525–539 (2005)
Moreno, J.A., Osorio, M.: A Lyapunov approach to second-order sliding mode controllers and observers. In: 47th IEEE Conference on Decision and Control, pp. 2856–2861 (2008)
Rajamani, R., Cho, Y.: Existence and design of observers for nonlinear systems: relation to distance to unobservability. International Journal of Control 69(5), 37–41 (1998)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Rath, J.J., Veluvolu, K.C., Zhang, D., Zhang, Q., Defoort, M. (2013). Estimation of Road Adhesion Coefficient Using Higher-Order Sliding Mode Observer for Torsional Tyre Model. In: Lee, J., Lee, M.C., Liu, H., Ryu, JH. (eds) Intelligent Robotics and Applications. ICIRA 2013. Lecture Notes in Computer Science(), vol 8103. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40849-6_18
Download citation
DOI: https://doi.org/10.1007/978-3-642-40849-6_18
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-40848-9
Online ISBN: 978-3-642-40849-6
eBook Packages: Computer ScienceComputer Science (R0)