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Nonlinear vehicle side-slip estimation with friction adaptation
Authors:  vard Fjæ  r Grip [Author Vitae],Lars Imsland [Author Vitae] [Author Vitae],Thor I. Fossen [Author Vitae],Jens C. Kalkkuhl [Author Vitae] [Author Vitae]
Affiliation:a SINTEF ICT, Applied Cybernetics, NO-7465 Trondheim, Norway
b DaimlerChrysler AG, 71059 Sindelfingen, Germany
c Department of Engineering Cybernetics, NTNU, NO-7491 Trondheim, Norway
Abstract:A nonlinear observer for estimation of the longitudinal velocity, lateral velocity, and yaw rate of a vehicle, designed for the purpose of vehicle side-slip estimation, is modified and extended in order to work for different road surface conditions. The observer relies on a road-tire friction model and is therefore sensitive to changes in the adhesion characteristics of the road surface. The friction model is parametrized with a single friction parameter, and an update law is designed. The adaptive observer is proven to be uniformly globally asymptotically stable and uniformly locally exponentially stable under a persistency-of-excitation condition and a set of technical assumptions, using results related to Matrosov's theorem. The observer is tested on recorded data from two test vehicles and shows good results on a range of road surfaces.
Keywords:Side-slip estimation   Automotive vehicles   Nonlinear observers   Velocity estimation   Friction
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