Journal
VEHICLE SYSTEM DYNAMICS
Volume 52, Issue 12, Pages 1716-1728Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/00423114.2014.960430
Keywords
sliding mode observer; tyre force estimation; in-wheel motor electric vehicle; slip angle estimation
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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.
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