{"title":"Estimating the Tire-Road Friction Coefficient Using Disturbance Observerwith Compensator","authors":"Ming Liu, Xuewen Rong, Yibin Li, Yanfang Yin","doi":"10.2174/1874444301507012286","DOIUrl":null,"url":null,"abstract":"The tire-road friction coefficient is critical to the performance of mobile robots working outdoors. However, it is difficult to measure using commercially available technology sensors. This paper presents a method of estimating the tire-road friction coefficient using a disturbance observer (DO) with compensator; the chassis speed is not needed. In this paper, the torque produced by the tire-road friction is considered to be the disturbance. The DO with compensator is de- signed to estimate the tire-road friction coefficient using the dynamic behavior of the vehicle model, the traction torque and the wheel velocity. The simulation result shows that the proposed method can estimate the tire-road friction coeffi- cient accurately under different road conditions and has strong robustness on modeling mismatch and vehicle load chang- ing.","PeriodicalId":153592,"journal":{"name":"The Open Automation and Control Systems Journal","volume":"22 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"The Open Automation and Control Systems Journal","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.2174/1874444301507012286","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
The tire-road friction coefficient is critical to the performance of mobile robots working outdoors. However, it is difficult to measure using commercially available technology sensors. This paper presents a method of estimating the tire-road friction coefficient using a disturbance observer (DO) with compensator; the chassis speed is not needed. In this paper, the torque produced by the tire-road friction is considered to be the disturbance. The DO with compensator is de- signed to estimate the tire-road friction coefficient using the dynamic behavior of the vehicle model, the traction torque and the wheel velocity. The simulation result shows that the proposed method can estimate the tire-road friction coeffi- cient accurately under different road conditions and has strong robustness on modeling mismatch and vehicle load chang- ing.