Citation

Chen Y, Ji Y, Guo K. Veh. Syst. Dyn. 2014; 52(12): 1716-1728.

Copyright

(Copyright © 2014, Informa - Taylor and Francis Group)

DOI

10.1080/00423114.2014.960430

PMID

unavailable

Abstract

In this paper, a reduced-order sliding mode observer (RO-SMO) is developed for vehicle state estimation. Several improvements are achieved in this paper. First, the reference model accuracy is improved by considering vehicle load transfers and using a precise nonlinear tyre model 'UniTire'. Second, without the reference model accuracy degraded, the computing burden of the state observer is decreased by a reduced-order approach. Third, nonlinear system damping is integrated into the SMO to speed convergence and reduce chattering. The proposed RO-SMO is evaluated through simulation and experiments based on an in-wheel motor electric vehicle. The results show that the proposed observer accurately predicts the vehicle states.