Simultaneous estimation of road friction and sideslip angle based on switched multiple non-linear observers

Abstract

In this study the author develop a practically stable switched non-linear observer bank for simultaneously estimating the vehicle sideslip angle and the road friction coefficient. Each individual non-linear state estimator in the observer bank is based on a non-linear lateral dynamics vehicle model that is parametrised with a distinct road friction coefficient. The inputs to the non-linear observers are typical signals that are available within lateral stability control systems, which include the vehicle speed, steer angle, lateral acceleration and the yaw rate. The authors show that the suggested non-linear state estimator is practically stable under arbitrary switching. Finally, the authors provide numerical simulations to demonstrate the efficacy of our switched non-linear observer design technique.

Yanal Yol Tutuş Kararliliği İçi̇n Merkezi̇ Di̇feransi̇yel Kontrolü Tabanli Çeki̇ş Torku Dağitimi

“…Literatürde, bu değerlerin tahmini için gözlemci tasarımları yer almaktadır. Bu çalışmanın yazarlarının bu konu ile ilgili yaptığı çalışmalara kaynakça kısmında yer verilmiştir [19][20][21]. Şekil 5'teki gibi kontrol diyagramı oluşturulmuştur.…”

A Neural Network Combined Inverse Controller for a Two-Rear-Wheel Independently Driven Electric Vehicle

“…Hence, another static NN is used to approximate the above nonlinear function in Equation (23). Then, the NNLI dynamic soft-sensor is finally completed, which is composed of a static NN and a series of differentiators.…”

“…Thus, the sideslip angle must be estimated in real-time. For this reason, a variety of estimation methods have been studied extensively, such as Kalman filter/extended Kalman filter observers [18,19], recursive least square algorithms [20], adaptive observers [21] and else observers [22][23][24][25]. Most of these state observers and related algorithms rely heavily on an accurate tire model or a vehicle model.…”

Lateral control of autonomous vehicles based on fuzzy logic

“…In Yang and Zheng (2007), Yang designed an expert fuzzy controller to adapt different driving speeds and different curvatures for crossing and turning actions, in contrast to changing the look-ahead distance. In Fang et al (2011), Du, Zhang, and Naghdy (2011), Ohara and Murakami (2008), Solmaz and Baslamsl (2012), and Talvala, Kritayakirana, and Gerdes (2011), unexpected sliding effects were taken into consideration. Robust anti-sliding controllers were designed for the observation and suppression of such sliding effects (Fang et al, 2011).…”