Road friction estimation using adaptive observer with periodical σ-modification

Hikaru Nishira; Taketoshi Kawabe; Seiichi Shin

Road friction estimation using adaptive observer with periodical σ-modification

Hikaru Nishira, Taketoshi Kawabe, Seiichi Shin

Research output: Contribution to conference › Paper › peer-review

Abstract

We propose here an adaptive observer for estimation of a road friction coefficient, which is important for vehicle control. The observer needs driving torque and wheel speeds of driven and non-driven wheels as inputs. The road friction coefficient is assumed to be represented by a product of a known function and an unknown parameter to be estimated by an adaptive law. It is shown that non-robust adaptive law can get the true value, if there are no disturbance. However, it diverges when disturbances are added. Periodical σ-modification is proposed here as a robust adaptive law. The estimation robustness against disturbances can be improved with the law. Numerical simulation results are presented to show the effectiveness of the law.

Original language	English
Pages	662-667
Number of pages	6
Publication status	Published - Dec 1 1999
Externally published	Yes
Event	Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD) - Kohala Coast, HI, USA Duration: Aug 22 1999 → Aug 27 1999

Other

Other	Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD)
City	Kohala Coast, HI, USA
Period	8/22/99 → 8/27/99

All Science Journal Classification (ASJC) codes

Control and Systems Engineering

Cite this

Road friction estimation using adaptive observer with periodical σ-modification. / Nishira, Hikaru; Kawabe, Taketoshi; Shin, Seiichi.
1999. 662-667 Paper presented at Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD), Kohala Coast, HI, USA.

Research output: Contribution to conference › Paper › peer-review

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AB - We propose here an adaptive observer for estimation of a road friction coefficient, which is important for vehicle control. The observer needs driving torque and wheel speeds of driven and non-driven wheels as inputs. The road friction coefficient is assumed to be represented by a product of a known function and an unknown parameter to be estimated by an adaptive law. It is shown that non-robust adaptive law can get the true value, if there are no disturbance. However, it diverges when disturbances are added. Periodical σ-modification is proposed here as a robust adaptive law. The estimation robustness against disturbances can be improved with the law. Numerical simulation results are presented to show the effectiveness of the law.

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T2 - Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD)

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ER -

Road friction estimation using adaptive observer with periodical σ-modification

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All Science Journal Classification (ASJC) codes

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