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Publisher
Springer, London
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Authors: Carlos Canudas de Wit Roberto Horowitz P Tsiotras
Publish Date: 1999
Volume: , Issue: , Pages: 23-42
Abstract
We have presented a method to estimate online the changes in road condition To achieve this goal we have introduced dynamical friction models that one hand provide a more accurate description of the contact friction and one the other hand allow us to characterize road condition variations via a single parameterWe have introduced a modelbase observer that ensure asymptotic tracking of road condition under mild conditions implying a nonvanishing evolution of the slip rate This condition are quite natural in this context they imply that the vehicle should operate away to the ideal pure rolling condition Mathematically this condition correspond to the persistently excitation condition which is well known in the adaptive control literature In the context of nonlinear observers this condition appear as being the characterization of “good” inputs which are required to recover state observabilityThe observer presented here has been derived in a general framework allowing to extend our study to the case where the vehicle velocity is not measurable In particular assumption A2 — ii will allows for this extension if it can be shown that the assumption A3 also holds This study and the introduction of other factors like wheel vertical deformation and suspension dynamics are currently under study
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