Estimation of tire-ground interaction forces under all-terrain conditions
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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 |