完整後設資料紀錄
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dc.contributor.authorHsiao, Teshengen_US
dc.contributor.authorYang, Je-Weien_US
dc.date.accessioned2017-04-21T06:48:40Z-
dc.date.available2017-04-21T06:48:40Z-
dc.date.issued2016en_US
dc.identifier.isbn978-1-4673-8682-1en_US
dc.identifier.issn0743-1619en_US
dc.identifier.urihttp://hdl.handle.net/11536/135250-
dc.description.abstractReal-time estimation of tire-road friction coefficients is essential for vehicular active safety systems to achieve better performance such that safe driving is guaranteed. However, real-time estimation of tire-road friction coefficients is challenging due to highly nonlinear and uncertain tire dynamics, and diverse operating conditions of tires. In this paper, we propose an iterative estimation scheme for each driving wheel based on the modified brush tire model which is suitable for the combined longitudinal and lateral motion and consists of only two parameters, i.e. the longitudinal stiffness and the tire-road friction coefficient. Two separate Lyapunov-based estimators are designed to estimate one parameter at a time, assuming the other is known. Then these two estimators are connected together to perform iterative estimation for both parameters. Simulations for various driving scenarios are carried out, including forward acceleration, simultaneous acceleration and turning, and split-mu test. The results show that satisfactory performance is achieved for each driving wheel despite the existence of non-parametric tire model uncertainties.en_US
dc.language.isoen_USen_US
dc.subjectbrush tire modelen_US
dc.subjecttire-road friction coefficient estimationen_US
dc.subjectlongitudinal stiffness estimationen_US
dc.subjectiterative estimationen_US
dc.titleIterative Estimation of the Tire-Road Friction Coefficient and Tire Stiffness of Each Driving Wheelen_US
dc.typeProceedings Paperen_US
dc.identifier.journal2016 AMERICAN CONTROL CONFERENCE (ACC)en_US
dc.citation.spage7573en_US
dc.citation.epage7578en_US
dc.contributor.department電控工程研究所zh_TW
dc.contributor.departmentInstitute of Electrical and Control Engineeringen_US
dc.identifier.wosnumberWOS:000388376107104en_US
dc.citation.woscount0en_US
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