标题:Estimating the tire-road friction coefficient using disturbance observer with compensator
作者:Liu, Ming ;Rong, Xuewen ;Li, Yibin ;Yin, Yanfang
作者机构:[Liu, Ming ;Rong, Xuewen ;Li, Yibin ] School of Control Science and Engineering, Shandong University, Jinan; Shandong; 250061, China;[Liu, Ming ;Yin, 更多
通讯作者:Rong, Xuewen
来源:Open Automation and Control Systems Journal
出版年:2015
卷:7
期:1
页码:2286-2292
DOI:10.2174/1874444301507012286
关键词:Disturbance observer; Tire-road friction coefficient estimation; Vehicle modeling
摘要:The tire-road friction coefficient is critical to the performance of mobile robots working outdoors. However, it is difficult to measure using commercially available technology sensors. This paper presents a method of estimating the tire-road friction coefficient using a disturbance observer (DO) with compensator; the chassis speed is not needed. In this paper, the torque produced by the tire-road friction is considered to be the disturbance. The DO with compensator is designed to estimate the tire-road friction coefficient using the dynamic behavior of the vehicle model, the traction torque and the wheel velocity. The simulation result shows that the proposed method can estimate the tire-road friction coefficient accurately under different road conditions and has strong robustness on modeling mismatch and vehicle load changing. © Liu et al.
收录类别:EI;SCOPUS
Scopus被引频次:1
资源类型:期刊论文
原文链接:https://www.scopus.com/inward/record.uri?eid=2-s2.0-84958251113&doi=10.2174%2f1874444301507012286&partnerID=40&md5=81068bdd546349dbfd27290dd5ceb2ee
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