Estimation of tire parameters via second-order sliding mode observers with unknown inputs

Tafner, Robert; Reichhartinger, Markus; Horn, Martin

doi:10.1109/vss.2014.6881108

Cited by 6 publications

(8 citation statements)

References 18 publications

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“…Tafner et al discussed using an HSMO to estimate the lateral tire force and cornering stiffness. The estimation scheme is two‐stage and the observers are second‐order unknown input SMOs.…”

Section: Friction Estimation Methodsmentioning

confidence: 99%

Estimation of road frictional force and wheel slip for effective antilock braking system (ABS) control

Rajendran

Spurgeon

Tsampardoukas

et al. 2018

Intl J Robust & Nonlinear

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Summary The introduction of electric braking via brake‐by‐wire systems in electric vehicles) has reduced the high transportation delays usually involved in conventional friction braking systems. This has facilitated the design of more efficient and advanced control schemes for antilock braking systems (ABSs). However, accurate estimation of the tire‐road friction coefficient, which cannot be measured directly, is required. This paper presents a review of existing estimation methods, focusing on sliding‐mode techniques, followed by the development of a novel friction estimation technique, which is used to design an efficient ABS control system. This is a novel slip‐based estimation method, which accommodates the coupling between the vehicle dynamics, wheel dynamics, and suspension dynamics in a cascaded structure. A higher‐order sliding‐mode observer–based scheme is designed, considering the nonlinear relationship between friction and slip. A first‐order sliding‐mode observer is also designed based on a purely linear relationship. A key feature of the proposed estimation schemes is the inclusion of road slope and the effective radius of the tire as an estimated state. These parameters impact significantly on the accuracy of slip and friction estimation. The performance of the proposed estimation schemes are validated and benchmarked against a Kalman filter (KF) by a series of simulation tests. It is demonstrated that the sliding‐mode observer paradigm is an important tool in developing the next generation ABS systems for electric vehicles.

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Section: Friction Estimation Methodsmentioning

confidence: 99%

Estimation of road frictional force and wheel slip for effective antilock braking system (ABS) control

Rajendran

Spurgeon

Tsampardoukas

et al. 2018

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

show abstract

“…While designs have already been proposed for wheel forces estimation, exploiting both first and second order sliding mode techniques (see e.g. [31], [32]), the motivation for the adoption of the S-SOSM in [30] is to alleviate the chattering produced. For this reason, also a switched/time-based algorithm (STBA) is adopted for the adaptation of the gain, based on the method proposed in [33].…”

Section: Sm Virtual Sensor With Accuracy Enhancementmentioning

confidence: 99%

“…From a theoretical viewpoint, the observation errors of observer systems (32) and (43) can be proved to converge to zero as required, by exploiting the principle of "control hierarchy" illustrated by DeCarlo in [35]. Considering the cascade of longitudinal and lateral observers as a unique multiinput system, by following DeCarlo's approach, the overall finite time convergence is guaranteed by a suitable choice of the gains, as will be discussed in the following.…”

Section: B Convergence Analysismentioning

confidence: 99%

“…Assuming the model is correct, the parameters are known and the input signals correspond to the actual ones, the observers converge to the correct estimation, as long as conditions (15) are verified for the models (32) and (43). In order to formalize the convergence properties of the proposed structure, the following reasonable assumptions are made:…”

Section: B Convergence Analysismentioning

confidence: 99%

“…Proposition 1. Given model (2) and estimation law (16), (19) applied to the observer defined in (31), (32), a value of the gain K x of the S-SOSM input law exists such that the estimation F xw,ij converges to the real value F xw,ij , with convergence error depending on the inaccuracy of the estimation∆T ij of the wheel torque deviation.…”

Section: B Convergence Analysismentioning

confidence: 99%

See 2 more Smart Citations

A Sliding-Mode Virtual Sensor for Wheel Forces Estimation With Accuracy Enhancement via EKF

Regolin

Alatorre

Zambelli

et al. 2019

IEEE Trans. Veh. Technol.

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An algorithm for the estimation of the longitudinal and lateral forces exerted at wheel level between tires and ground is presented. Starting from a modified version of the single track vehicle model, which also includes the steady-state effect of pitch and roll on the planar movement of the vehicle, the structure is designed as a cascade of two Sub-Optimal Second Order Sliding Mode (S-SOSM) observers, featuring an adaptive feedback which helps improving the accuracy of the estimation of the longitudinal forces. The presented approach is purposely designed so that only standard sensors, which are usually available in commercial vehicles, are exploited. In order to alleviate the high frequency vibrations introduced by the Sliding Mode technique, an EKF is added as a second step, which considers the output of the S-SOSM observer as a noisy measurement, hence the virtual sensor nomenclature. The method is evaluated on experimental data, displaying good performance both in terms of accuracy and chattering alleviation.

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Study on Self-Tuning Tyre Friction Control for Developing Main-Servo Loop Integrated Chassis Control System

et al. 2017

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Estimation of tire parameters via second-order sliding mode observers with unknown inputs

Cited by 6 publications

References 18 publications

Estimation of road frictional force and wheel slip for effective antilock braking system (ABS) control

Estimation of road frictional force and wheel slip for effective antilock braking system (ABS) control

A Sliding-Mode Virtual Sensor for Wheel Forces Estimation With Accuracy Enhancement via EKF

Study on Self-Tuning Tyre Friction Control for Developing Main-Servo Loop Integrated Chassis Control System

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