Abstract
This paper proposes a sliding mode based scheme for tyre-road friction coefficient μ estimation during a braking manoeuvre in an automotive vehicle. The scheme is model based and assumes only wheel angular velocity is measured. The proposed scheme uses a sliding mode observer to reconstruct the friction coefficient μ using equivalent injection ideas. The observer is based on a quarter vehicle representation and is independent of the model used to represent the tyre/road friction. The paper considers a dynamic LuGre friction model, a pseudo static LuGre friction model and a parameter based friction model as a basis for a comparative study.
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