Abstract
In this paper the friction coefficient at contact surface of the road and tire of ground vehicle has been estimated for the anti-lock braking system. The non-linear Dugoff's friction model has been taken here to characterize the tire forces. The main aim is to update the controller with current information about the friction so that the vehicle can be manoeuvred by anti-lock braking controller in an emergency braking situation. A robust non-linear sliding mode observer has been suggested to observe the tire force and the longitudinal velocity of the vehicle. Simulation is carried out for different road conditions for a quarter car model and the results are evaluated.
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