Road friction estimation using adaptive observer with periodical σ-modification

Hikaru Nishira, Taketoshi Kawabe, Seiichi Shin

研究成果: 会議への寄与タイプ論文

14 引用 (Scopus)

抄録

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.

元の言語英語
ページ662-667
ページ数6
出版物ステータス出版済み - 12 1 1999
外部発表Yes
イベント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
継続期間: 8 22 19998 27 1999

その他

その他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
期間8/22/998/27/99

Fingerprint

Wheels
Friction
Torque
Computer simulation

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

これを引用

Nishira, H., Kawabe, T., & Shin, S. (1999). Road friction estimation using adaptive observer with periodical σ-modification. 662-667. 論文発表場所 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, .

Road friction estimation using adaptive observer with periodical σ-modification. / Nishira, Hikaru; Kawabe, Taketoshi; Shin, Seiichi.

1999. 662-667 論文発表場所 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, .

研究成果: 会議への寄与タイプ論文

Nishira, H, Kawabe, T & Shin, S 1999, 'Road friction estimation using adaptive observer with periodical σ-modification', 論文発表場所 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, 8/22/99 - 8/27/99 pp. 662-667.
Nishira H, Kawabe T, Shin S. Road friction estimation using adaptive observer with periodical σ-modification. 1999. 論文発表場所 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, .
Nishira, Hikaru ; Kawabe, Taketoshi ; Shin, Seiichi. / Road friction estimation using adaptive observer with periodical σ-modification. 論文発表場所 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, .6 p.
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