Tire Force Estimation using a Proportional Integral Observer

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Abstract

This paper addresses a method for detecting critical stability situations in the lateral vehicle dynamics by estimating the non-linear part of the tire forces. These forces indicate the road holding performance of the vehicle. The estimation method is based on a robust fault detection and estimation approach which minimize the disturbance and uncertainties to residual sensitivity. It consists in the design of a Proportional Integral Observer (PIO), while minimizing the well known H ∞ norm for the worst case uncertainties and disturbance attenuation, and combining a transient response specification. This multi-objective problem is formulated as a Linear Matrix Inequalities (LMI) feasibility problem where a cost function subject to LMI constraints is minimized. This approach is employed to generate a set of switched robust observers for uncertain switched systems, where the convergence of the observer is ensured using a Multiple Lyapunov Function (MLF). Whilst the forces to be estimated can not be physically measured, a simulation scenario with CarSimTM is presented to illustrate the developed method.

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Farhat, A., Koenig, D., Hernandez-Alcantara, D., & Morales-Menendez, R. (2017). Tire Force Estimation using a Proportional Integral Observer. In Journal of Physics: Conference Series (Vol. 783). Institute of Physics Publishing. https://doi.org/10.1088/1742-6596/783/1/012014

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