@article{ref1,
title="A high performance pneumatic braking system for heavy vehicles",
journal="Vehicle system dynamics",
year="2010",
author="Miller, Jonathan I. and Cebon, David",
volume="48",
number="Suppl 1",
pages="373-392",
abstract="Current research into reducing actuator delays in pneumatic brake systems is opening the door for advanced anti-lock braking algorithms to be used on heavy goods vehicles. However, these algorithms require the knowledge of variables that are impractical to measure directly. This paper introduces a sliding mode braking force observer to support a sliding mode controller for air-braked heavy vehicles. The performance of the observer is examined through simulations and field testing of an articulated heavy vehicle. The observer operated robustly during single-wheel vehicle simulations, and provided reasonable estimates of surface friction from test data. The effect of brake gain errors on the controller and observer are illustrated, and a recursive least squares estimator is derived for the brake gain. The estimator converged within 0.3 s in simulations and vehicle trials.<p />",
language="en",
issn="0042-3114",
doi="10.1080/00423111003774472",
url="http://dx.doi.org/10.1080/00423111003774472"
}