کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
698122 | 890394 | 2008 | 12 صفحه PDF | دانلود رایگان |
![عکس صفحه اول مقاله: Nonlinear vehicle side-slip estimation with friction adaptation Nonlinear vehicle side-slip estimation with friction adaptation](/preview/png/698122.png)
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.
Journal: Automatica - Volume 44, Issue 3, March 2008, Pages 611–622