Estimation of Road Adhesion Coefficient Using Higher-Order Sliding Mode Observer for Torsional Tyre Model

摘要

The estimation of friction coefficient for a vehicle when it traverses on different surfaces has been an important issue. In this paper, a super-twisting algorithm based sliding mode observer is proposed to estimate the road adhesion coefficient, treated as an unknown input in the dynamics of a quarter-vehicle. By estimating the road adhesion coefficient, the coefficient of friction can be estimated. Simulation results show the effectiveness of the proposed observer in estimation of the road adhesion coefficient that changes with surface variations.