Robust observer design of tire forces in heavy-duty vehicles

Imine, Hocine, Khemoudj, Omar, Djemaï, Mohamed and Busawon, Krishna (2015) Robust observer design of tire forces in heavy-duty vehicles. IEEE Transactions on Intelligent Transportation Systems, 16 (6). pp. 3304-3312. ISSN 1558-0016

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Official URL: http://dx.doi.org/10.1109/TITS.2015.2443180

Abstract

This paper presents a robust observer design methodology to estimate tire forces in heavy-duty vehicles. The proposed methodology uses low-cost sensors and observer-based numerical differentiators. In addition to the already available sensors, low-cost sensors from the CAN bus are employed to get additional measurements. Sliding mode differentiators are used to optimize the sensors' configuration. Validation of the proposed estimation methodology is made by comparing the results with that generated using the PROSPER software simulator. The finite-time convergence with small estimation error suggests that the proposed methodology is valid and can be applied in real time.

Item Type: Article
Uncontrolled Keywords: Heavy vehicle modeling, vertical forces, sliding mode observer, estimation
Subjects: H600 Electronic and Electrical Engineering
Department: Faculties > Engineering and Environment > Mathematics, Physics and Electrical Engineering
Depositing User: Nicola King
Date Deposited: 07 Jan 2016 10:19
Last Modified: 24 Oct 2017 08:52
URI: http://nrl.northumbria.ac.uk/id/eprint/25309

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