An adaptive control scheme for emergency braking of vehicles is designed based on a LuGre dynamic model for the tire-road friction. The wheel angular speed and longitudinal vehicle acceleration information are used to design a fast convergence observer to estimate the vehicle velocity and the internal state of the friction model. The unknown parameters of the dynamic friction model are estimated through a parameter adaptation law. A Lyapunov-based state estimator and a stabilizing braking controller are designed to achieve near to maximum braking capability of the vehicle. Underestimation of the maximum friction coefficient, a very desirable feature from the perspective of safety, is guaranteed by a proper choice of adaptation gains and initial values of the estimated friction parameters.
Dynamic Friction Model-Based Tire-Road Friction Estimation and Emergency Braking Control
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Alvarez, L., Yi, J., Horowitz, R., and Olmos, L. (June 21, 2004). "Dynamic Friction Model-Based Tire-Road Friction Estimation and Emergency Braking Control." ASME. J. Dyn. Sys., Meas., Control. March 2005; 127(1): 22–32. https://doi.org/10.1115/1.1870036
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