Experimental results of slip control with a fuzzy-logic-assisted unscented Kalman filter for state estimation

Experimental verification of an online traction parameter identification method

“…To balance out these effects, it was suggested to introduce a fuzzy-logic system (FLS) to supervise the UKF. The FLS captures intensity of vehicle dynamics using difference equations for measurements of ω w and v over a moving window (please refer to Osinenko et al (2016) for details). If the vehicle enters a phase of intense dynamics, the FLS factor is set high which gives priority to the adaptation matrix and prevents divergence.…”

“…First of all, in a previous work (Kobelski et al, 2020) an UKF-based identification algorithm was used to estimate traction properties of a tractor driving over different ground types in a simulation. It was based on the methodology developed in (Osinenko et al, 2014(Osinenko et al, , 2016Osinenko and Streif, 2017). In (Osinenko et al, 2016) the adaptive unscented Kalmanfilter with a fuzzy supervisor was used to assist traction control, while (Osinenko and Streif, 2017) improved the model for the adhesion slip ratio characteristic curves.…”

“…It was based on the methodology developed in (Osinenko et al, 2014(Osinenko et al, , 2016Osinenko and Streif, 2017). In (Osinenko et al, 2016) the adaptive unscented Kalmanfilter with a fuzzy supervisor was used to assist traction control, while (Osinenko and Streif, 2017) improved the model for the adhesion slip ratio characteristic curves. This work follows up by validating the previously derived concept experimentally.…”

A method of online traction parameter identification and mapping

“…The goal of this work is to develop means of online identification and mapping of those condition parameters. It continues the methodology developed in Osinenko et al (2014Osinenko et al ( , 2016; Osinenko and Streif (2017). An adaptive UKF is used for the identification of the ground-to-propelling-unit properties, namely, the adhesion and the rolling resistance coefficients.…”

Wheel Slip Control Applied to an Electric Tractor for Improving Tractive Efficiency and Reducing Energy Consumption

“…This work suggests that slip control is a must to maximize slip efficiency. Considering that the slip is a nonlinear function of the ground speed and wheel rotation frequency, while also depending on the internal state variables that are often unknown, an adaptive Kalman filter is used in [16] to estimate the wheel load torque.…”