Tire-Ground Forces Estimation in a 4-Wheel Vehicle Using a Delayed Interconnected Cascade-Observer Structure

Author(s)

Cordeiro, Rafael A. ; Victorino, Alessandro C. ; Ferreira, Paulo A. V. ; de Paiva, Ely C. ; Bueno, Samuel S.

• Document type: Journal article
• Source: IFAC PAPERSONLINE; v. 49, n. 15, p. 6-pg., 2016-01-01.

Abstract

The knowledge of tire-ground interaction forces is interesting for intelligent vehicles. however, tire forces transducers are expensive and not suitable for ordinary passengers cars. An alternative is to estimate these forces using common sensors. This paper presents an estimator structure capable of reconstructing tire-ground interaction forces in all directions. A delayed interconnected cascade-observer structure is proposed to eliminate mutual dependence between estimators. Observers are developed based on nonlinear vehicle dynamic models with the Extended Kalman Filter algorithm. The estimator is validated with experimental results. The results are also compared with an existent estimator of the literature. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved. (AU)

• FAPESP's process: 14/27240-4 - Estimation of tire-ground interaction forces under all-terrain conditions
• Grantee: Rafael de Angelis Cordeiro
• Support Opportunities: Scholarships abroad - Research Internship - Doctorate
• 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 Opportunities: Scholarships in Brazil - Doctorate
• FAPESP's process: 14/02672-9 - Development of a robotic electrical vehicle with electronic differential
• Grantee: Ely Carneiro de Paiva
• Support Opportunities: Regular Research Grants