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A reduced-order nonlinear sliding mode observer for vehicle slip angle and tyre forces
Ist Teil von
Vehicle system dynamics, 2014-12, Vol.52 (12), p.1716-1728
Ort / Verlag
Taylor & Francis
Erscheinungsjahr
2014
Link zum Volltext
Quelle
Taylor & Francis
Beschreibungen/Notizen
In this paper, a reduced-order sliding mode observer (RO-SMO) is developed for vehicle state estimation. Several improvements are achieved in this paper. First, the reference model accuracy is improved by considering vehicle load transfers and using a precise nonlinear tyre model 'UniTire'. Second, without the reference model accuracy degraded, the computing burden of the state observer is decreased by a reduced-order approach. Third, nonlinear system damping is integrated into the SMO to speed convergence and reduce chattering. The proposed RO-SMO is evaluated through simulation and experiments based on an in-wheel motor electric vehicle. The results show that the proposed observer accurately predicts the vehicle states.