TY  - JOUR
PY  - 2010//
TI  - An optimal pole-matching observer design for estimating tyre-road friction force
JO  - Vehicle system dynamics
A1  - Faraji, Mohammad
A1  - Majd, Vahid Johari
A1  - Saghafi, Behrooz
A1  - Sojoodi, Mahdi
SP  - 1155
EP  - 1166
VL  - 48
IS  - 10
N2  - In this paper, considering the dynamical model of tyre-road contacts, we design a nonlinear observer for the on-line estimation of tyre-road friction force using the average lumped LuGre model without any simplification. The design is the extension of a previously offered observer to allow a muchmore realistic estimation by considering the effect of the rolling resistance and a term related to the relative velocity in the observer. Our aim is not to introduce a new friction model, but to present a more accurate nonlinear observer for the assumed model. We derive linear matrix equality conditions to obtain an observer gain with minimum pole mismatch for the desired observer error dynamic system. We prove the convergence of the observer for the non-simplified model. Finally, we compare the performance of the proposed observer with that of the previously mentioned nonlinear observer, which shows significant improvement in the accuracy of estimation.<p /> 
LA  - en
SN  - 0042-3114
UR  - http://dx.doi.org/10.1080/00423110903362594
ID  - ref1
ER  -