@article{ref1,
title="A reduced-order nonlinear sliding mode observer for vehicle slip angle and tyre forces",
journal="Vehicle system dynamics",
year="2014",
author="Chen, Yuhang and Ji, Yunfeng and Guo, Konghui",
volume="52",
number="12",
pages="1716-1728",
abstract="In this paper, a reduced-order sliding mode observer (RO-SMO) is developed for vehicle state estimation. Several improvements are achieved in this paper. First, the reference model accuracy is improved by considering vehicle load transfers and using a precise nonlinear tyre model 'UniTire'. Second, without the reference model accuracy degraded, the computing burden of the state observer is decreased by a reduced-order approach. Third, nonlinear system damping is integrated into the SMO to speed convergence and reduce chattering. The proposed RO-SMO is evaluated through simulation and experiments based on an in-wheel motor electric vehicle. The results show that the proposed observer accurately predicts the vehicle states.<p />",
language="en",
issn="0042-3114",
doi="10.1080/00423114.2014.960430",
url="http://dx.doi.org/10.1080/00423114.2014.960430"
}