Open AccessHigher‐order sliding mode observer for estimation of tyre friction in ground vehicles
Author(s) -
Rath Jagat Jyoti,
Veluvolu Kalyana Chakravarthy,
Defoort Michael,
Soh Yeng Chai
Publication year - 2014
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2013.0593
Subject(s) - control theory (sociology) , convergence (economics) , observer (physics) , lipschitz continuity , friction coefficient , mode (computer interface) , vehicle dynamics , work (physics) , dynamics (music) , computer science , mathematics , engineering , mathematical analysis , physics , control (management) , automotive engineering , materials science , mechanical engineering , artificial intelligence , quantum mechanics , economics , composite material , economic growth , operating system , acoustics
The estimation of friction coefficient for a vehicle when it traverses on different surfaces has been an important issue. In this work, the longitudinal vehicle dynamics, the torsional tyre dynamics and the non‐linear LuGre friction dynamics are integrated to model the quarter vehicle dynamics. The road adhesion coefficient in the vehicle dynamics is unknown and varies with the contact surface. To address this issue, the authors consider a class of non‐linear uncertain systems that covers the vehicle dynamics and develop a higher‐order sliding mode observer based on supertwisting algorithm for state and unknown input estimations. Under Lipschitz conditions for the non‐linear functions, the convergence of the estimation error is established. By estimating the road adhesion coefficient, the coefficient of friction can be estimated. Simulation results demonstrate the effectiveness of the proposed observer for state and unknown input estimation.