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(Reference retrieved automatically from Web of Science through information on FAPESP grant and its corresponding number as mentioned in the publication by the authors.)

Estimation of Vertical , Lateral , and Longitudinal Tire Forces in Four-Wheel Vehicles Using a Delayed Interconnected Cascade-Observer Structure

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Author(s):
Cordeiro, Rafael A. [1] ; Victorino, Alessandro C. [2] ; Azinheira, Jose R. [3] ; Ferreira, V, Paulo A. ; de Paiva, Ely C. [4] ; Bueno, Samuel S. [5]
Total Authors: 6
Affiliation:
[1] V, Univ Estadual Campinas, Sch Elect & Comp Engn, BR-13083852 Campinas, SP - Brazil
[2] Univ Technol Compiegne, Sorbonne Univ, CNRS UMR Heudiasyc 7253, F-60200 Compiegne - France
[3] Univ Lisbon, Inst Super Tecn, P-1049001 Lisbon - Portugal
[4] Univ Estadual Campinas, Sch Mech Engn, BR-13083860 Campinas, SP - Brazil
[5] Renato Archer Ctr Informat Technol, BR-13092599 Campinas, SP - Brazil
Total Affiliations: 5
Document type: Journal article
Source: IEEE-ASME TRANSACTIONS ON MECHATRONICS; v. 24, n. 2, p. 561-571, APR 2019.
Web of Science Citations: 0
Abstract

The knowledge of tire-ground interaction forces is valuable for intelligent vehicles technologies. However, tire forces transducers are expensive and not suitable for ordinary passenger cars. An alternative is to estimate these forces using less sophisticated sensors. This paper presents a new delayed interconnected cascade-observer structure to reconstruct the forces acting on each tire in all directions. The addition of delayed interconnections overcomes the mutual dependence problem in the cascade estimator. Observers are developed based on nonlinear vehicle dynamic models. The Extended Kalman Filter and the Unscented Kalman Filter algorithms are applied for comparison purposes. Two experimental data are used to validate the estimator: a driving in ordinary urban streets and a high-speed slalom maneuver in a banked road. The results are compared with force measurements obtained with transducers and with an existing estimator from the literature. (AU)

FAPESP's process: 18/04905-1 - Automatization of a robotic electric vehicle with electronic differential
Grantee:André Ricardo Fioravanti
Support type: Regular Research Grants
FAPESP's process: 14/27240-4 - Estimation of tire-ground interaction forces under all-terrain conditions
Grantee:Rafael de Angelis Cordeiro
Support type: Scholarships abroad - Research Internship - Doctorate
FAPESP's process: 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment
Grantee:Marco Henrique Terra
Support type: Research Projects - Thematic Grants
FAPESP's process: 14/02672-9 - Development of a robotic electrical vehicle with electronic differential
Grantee:Ely Carneiro de Paiva
Support type: Regular Research Grants
FAPESP's process: 14/06610-8 - Path tracking control of a four-wheel robotic vehicle under adverse terrain conditions
Grantee:Rafael de Angelis Cordeiro
Support type: Scholarships in Brazil - Doctorate
FAPESP's process: 16/00693-4 - Synthesis of nonlinear path tracking controllers for an Off-Road Four-Wheeled robotic vehicle
Grantee:Rafael de Angelis Cordeiro
Support type: Scholarships abroad - Research Internship - Doctorate