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Content Provider | IEEE Xplore Digital Library |
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Author | Zibin Song Xiaojing Song Altheoer, K. Yahya Zweiri Seneviratne, L. |
Copyright Year | 2007 |
Description | Author affiliation: Kings Coll. London, London (Zibin Song; Xiaojing Song; Altheoer, K.; Yahya Zweiri) |
Abstract | This paper presents a non-linear sliding mode observer (SMO) for the estimation of wheeled vehicle slip parameters based on the vehicle kinematic model and on-board sensor inputs. Lyapunov stability theory is used to establish the stability conditions for the observer. It is shown that the observer will converge in a finite time, provided the observer gains satisfy constraints based on the stability analysis. Since vehicle position and velocity can not be very accurately measured using on-board sensors, specially designed linear and 2D test rigs are used to validate the proposed observer. The SMO is tested under a variety of conditions and it is shown that the SMO can estimate the slip parameters to a high accuracy. It is also shown that the SMO can accurately predict the slip parameters in the presence of noise by testing the SMO after adding white noise to the measurements. An extended Kalman filter is presented for the purpose of comparison. Thus the proposed observer has the potential to be used on unmanned ground vehicles equipped with sensing systems such as GPS or inertial sensors. |
Starting Page | 1213 |
Ending Page | 1218 |
File Size | 1296796 |
Page Count | 6 |
File Format | |
ISBN | 9781424408276 |
DOI | 10.1109/ICMA.2007.4303721 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2007-08-05 |
Publisher Place | China |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Parameter estimation Vehicles Testing Kinematics Lyapunov method Stability analysis Position measurement Velocity measurement White noise Noise measurement Slip Estimation Sliding Mode Observer Extended Kalman Fitler UGV autonomy |
Content Type | Text |
Resource Type | Article |
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