Adaptive Emergency Braking Control with Observer-based Dynamic Tire/road Friction Model and Underestimation of Friction Coefficient
نویسندگان
چکیده
An adaptive control scheme for emergency braking of vehicles is designed based on a LuGre dynamic model for the tire/road friction. The wheel angular speed and longitudinal vehicle acceleration information are used to design an observerestimator for vehicle velocity, friction internal state and friction parameters. A Lyapunov-based stabilizing controller is designed to achieve near maximum braking capability of the vehicle. Underestimation of the friction coefficient is guaranteed by a proper choice of adaptation gains and initial conditions of the friction parameters. Simulation results show that both the state estimation and the friction parameters converge to the true values and that vehicle stops rapidly.
منابع مشابه
Dynamic Friction Model-Based Tire-Road Friction Estimation and Emergency Braking Control
An adaptive control scheme for emergency braking of vehicles is designed based on a LuGre dynamic model for the tire-road friction. The wheel angular speed and longitudinal vehicle acceleration information are used to design a fast convergence observer to estimate the vehicle velocity and the internal state of the friction model. The unknown parameters of the dynamic friction model are estimate...
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