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

Autor(es)

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

• Tipo de documento: Artigo Científico
• Fonte: IFAC PAPERSONLINE; v. 49, n. 15, p. 6-pg., 2016-01-01.

Resumo

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)

• Processo FAPESP: 14/27240-4 - Estimação de forças de interação pneu-solo em condições todo-terreno
• Beneficiário: Rafael de Angelis Cordeiro
• Modalidade de apoio: Bolsas no Exterior - Estágio de Pesquisa - Doutorado
• Processo FAPESP: 14/06610-8 - Controle de trajetória de um veículo robótico de quatro rodas em condições adversas de terreno
• Beneficiário: Rafael de Angelis Cordeiro
• Modalidade de apoio: Bolsas no Brasil - Doutorado
• Processo FAPESP: 14/02672-9 - Desenvolvimento de um veículo elétrico robótico com diferencial eletrônico (VERDE)
• Beneficiário: Ely Carneiro de Paiva
• Modalidade de apoio: Auxílio à Pesquisa - Regular