Abstract
A nonlinear observer for lateral velocity of an automotive vehicle is extended for robustness with respect to unknown road surface conditions. The observer uses a friction model parametrized with the maximum road-tire friction coefficient, and an adaptive parameter update law is designed for estimation of this coefficient. The adaptive nonlinear observer is proven to be uniformly globally asymptotically stable under a uniform 5-persistency-of-excitation condition, and a set of additional technical assumptions, using results related to Matrosov's Theorem. The adaptive observer is validated using experimental data from a car. © 2006 IEEE.
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CITATION STYLE
Grip, H. F., Imsland, L., Fossen, T. I., Kalkkuhl, J. C., & Suissa, A. (2006). Nonlinear vehicle velocity observer with road-tire friction adaptation. In Proceedings of the IEEE Conference on Decision and Control (pp. 3603–3608). Institute of Electrical and Electronics Engineers Inc. https://doi.org/10.1109/cdc.2006.377060
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