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
来源：Open Automation and Control Systems Journal
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.