@article{ref1,
title="Tyre--road Friction Estimation -- a Comparative Study",
journal="Proceedings of the Institution of Mechanical Engineers, Part D: Journal of automobile engineering",
year="2008",
author="Patel, N. and Edwards, C. and Spurgeon, S. K.",
volume="222",
number="12",
pages="2337-2351",
abstract="This paper proposes a comparative study of three observers: a second-order sliding mode observer, a third-order sliding mode observer, and an adaptive observer. The observers are designed for tyre--road friction coefficient μ estimation during a braking manoeuvre in an automotive vehicle. The second-order sliding mode observer and the third-order sliding mode observer reconstruct the friction coefficient μ using equivalent output error injection ideas, while the adaptive observer uses explicit estimates of the road condition parameter as part of the scheme. The new second-order observer that is proposed in this paper is based on a quarter-vehicle representation and is independent of the model used to represent the tyre--road friction. The paper considers a dynamic LuGre friction model, a pseudostatic LuGre friction model, and a parameter-based friction model as a basis for a comparative study.<p /><p>Language: en</p>",
language="en",
issn="0954-4070",
doi="10.1243/09544070JAUTO859",
url="http://dx.doi.org/10.1243/09544070JAUTO859"
}