Extended-Braking-Stiffness Estimation Under Varying Road-Adherence Conditions
| Autor: | Antonio Loria, Missie Aguado-Rojas, William Pasillas-Lépine |
|---|---|
| Přispěvatelé: | Laboratoire des signaux et systèmes (L2S), CentraleSupélec-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS), ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018) |
| Rok vydání: | 2020 |
| Předmět: |
Nonstrict Lyapunov functions
0209 industrial biotechnology State variable Observer (quantum physics) 02 engineering and technology Dynamic load testing Antilock braking system (ABS) Vehicle dynamics 020901 industrial engineering & automation 0203 mechanical engineering Control theory [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering medicine Electrical and Electronic Engineering Adaptive observer Switched systems Tire-road friction Mathematics Persistency of excitation Stiffness 020302 automobile design & engineering Dwell time Anti-lock braking system Control and Systems Engineering Relaxation length medicine.symptom Time-scale transformation |
| Zdroj: | IEEE Transactions on Control Systems Technology IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2020, 28 (5), pp.1964-1971. ⟨10.1109/TCST.2019.2918483⟩ |
| ISSN: | 2374-0159 1063-6536 |
| DOI: | 10.1109/tcst.2019.2918483 |
| Popis: | International audience; We present a switched adaptive observer for the estimation of the tyre extended braking stiffness (XBS) during ABS braking scenarios. The design of the observer is based on Burckhardt's friction model, and on a model of the wheel dynamics in which the XBS appears as one of the state variables. Global asymptotic stability of the estimation error is established provided that certain dwell-time and persistency of excitation conditions hold. The approach is validated under constant road conditions with experimental data from a tyre-in-the-loop test rig, and under varying road conditions via numerical simulations on a two-axle vehicle model that includes dynamic load transfer and tyre relaxation length. |
| Databáze: | OpenAIRE |
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