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Article Dans Une Revue IEEE Transactions on Control Systems Technology Année : 2020

Extended-Braking-Stiffness Estimation Under Varying Road-Adherence Conditions

Résumé

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.
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Dates et versions

hal-02367531 , version 1 (05-03-2020)

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Missie Aguado-Rojas, William Pasillas-Lépine, Antonio Loria. Extended-Braking-Stiffness Estimation Under Varying Road-Adherence Conditions. IEEE Transactions on Control Systems Technology, 2020, 28 (5), pp.1964-1971. ⟨10.1109/TCST.2019.2918483⟩. ⟨hal-02367531⟩
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