nonlinear vehicle velocity observer with road-tire friction：路面轮胎摩擦非线性车辆速度观测器.pdfVIP

Proceedings of the 45th IEEE Conference on Decision Control ThB17.6 Manchester Grand Hyatt Hotel San Diego, CA, USA, December 13-15, 2006 Nonlinear Vehicle Velocity Observer with Road-Tire Friction Adaptation ˚ Havard Fjær Grip Lars Imsland Tor A. Johansen Thor I. Fossen Jens C. Kalkkuhl Avshalom Suissa SINTEF ICT, Applied Cybernetics DaimlerChrysler Research and Technology NO-7465 Trondheim, Norway 70456 Stuttgart, Germany Abstract— A nonlinear observer for lateral velocity of an [7]. In [8], wheel angular velocity, longitudinal tire slip automotive vehicle is extended for robustness with respect to and wheel torque is used to generate an estimate of the unknown road surface conditions. The observer uses a friction wheel angular velocity and for adaptation of a friction model parametrized with the maximum road-tire friction co- efficient, and an adaptive parameter update law is designed parameter. Wheel angular velocity and torque is used in [9] for estimation of this coefficient. The adaptive nonlinear ob- for estimation of the longitudinal velocity and wheel angular server is proven to be uniformly globally asymptotically stable velocity, and adaptation of a friction parameter. In both [8] under a uniform δ -persistency-of-excitation condition, and a and [9], convergence of the adapted friction parameters under set of additional technical assumptions, using results related to conditions of nonzero longitudin