Adaptive emergency braking control with observer-based dynamic tire/road friction model and underestimation of friction coefficient

Luis Alvarez, Jingang Yi, Roberto Horowitz, Luis Olmos

Research output: Contribution to journalConference article

6 Scopus citations

Abstract

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 observer-estimator 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.

Original languageEnglish (US)
Pages (from-to)211-216
Number of pages6
JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume15
Issue number1
StatePublished - Jan 1 2002
Externally publishedYes
Event15th World Congress of the International Federation of Automatic Control, 2002 - Barcelona, Spain
Duration: Jul 21 2002Jul 26 2002

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Keywords

  • Adaptive control
  • Automotive control
  • Nonlinear observers

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