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Road friction estimation using adaptive observer with periodical σ-modification
Description
We propose an adaptive observer for estimation of a road friction coefficient, which is important for vehicle control. The observer needs the driving torque and wheel speeds of the 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 obtain the true value, if there are no disturbances. However, it diverges when disturbances are added. Periodical /spl sigma/-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 adaptive law.
Journal
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- Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)
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Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328) 1 662-667, 2003-01-20
IEEE