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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    Title :

    A reduced-order nonlinear sliding mode observer for vehicle slip angle and tyre forces


    Contributors:
    Chen, Yuhang (author) / Ji, Yunfeng (author) / Guo, Konghui (author)

    Published in:

    Vehicle System Dynamics ; 52 , 12 ; 1716-1728


    Publication date :

    2014-12-02


    Size :

    13 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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