Adaptive observer-based parameter estimation with application to road gradient and vehicle mass estimation

IEEE Transactions on Industrial Electronics

Volumn 61, Issue 6, 2014, Pages 2851-2863

  Mahyuddin, Muhammad Nasiruddin ^a,b   Na, Jing ^c   Herrmann, Guido ^a   Ren, Xuemei ^d   Barber, Phil ^e  

^a UNIVERSITY OF BRISTOL   (United Kingdom)

^b SCHOOL OF PHYSICS   (Malaysia)

^c KUNMING UNIVERSITY OF SCIENCE AND TECHNOLOGY   (China)

^d BEIJING INSTITUTE OF TECHNOLOGY   (China)

^e JAGUAR LAND ROVER   (United Kingdom)

Author keywords

Adaptive observer; parameter estimation; vehicle dynamics identification

Indexed keywords

ALGORITHMS; ESTIMATION; ROADS AND STREETS; VEHICLES;

ADAPTIVE OBSERVER; ANALYTICAL RESULTS; ERROR CONVERGENCE; ESTIMATION ALGORITHM; PARAMETER ESTIMATION ERRORS; PERSISTENT EXCITATION; THEORETICAL APPROACH; VEHICLE DYNAMICS;

PARAMETER ESTIMATION;

EID: 84891758291     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2013.2276020     Document Type: Article

References (35)

1. H. Bae, J. Ryu, and J. Gerdes, Road grade and vehicle parameter estimation for longitudinal control using GPS, in Proc. IEEE ITSC, 2001, pp. 166-171. (Pubitemid 32936333)
2. H. Jansson, E. Kozica, P. Sahlholm, and K.-H. Johansson, Improved road grade estimation using sensor fusion, in Proc. 12th Reglermote, Stockholm, Sweeden, 2006, pp. 1-6.
3. P. Sahlholm and K. Johansson, Segmented road grade estimation for fuel efficient heavy duty vehicles, in Proc. IEEE Conf. Decision Control, 2010, pp. 1045-1050.
4. M. McIntyre, T. Ghotikar, A. Vahidi, X. Song, and D. Dawson, A two-stage Lyapunov-based estimator for estimation of vehicle mass and road grade, IEEE Trans. Veh. Technol., vol. 58, no. 7, pp. 3177-3185, Sep. 2009.
5. S. Mangan and J. Wang, Development of a novel sensorless longitudinal road gradient estimation method based on vehicle can bus data, IEEE/ASME Trans. Mechatronics, vol. 12, no. 3, pp. 375-386, Jun. 2007. (Pubitemid 47018790)
6. V. Winstead and I. Kolmanovsky, Estimation of road grade and vehicle mass via model predictive control, in Proc. IEEE CCA, 2005, pp. 1588-1593. (Pubitemid 43896203)
7. A. Vahidi, M. Druzhinina, A. Stefanopoulou, and H. Peng, Simultaneous mass and time-varying grade estimation for heavy-duty vehicles, in Proc. Amer. Control Conf., 2003, vol. 6, pp. 4951-4956.
8. R. Daily and D. Bevly, The use of GPS for vehicle stability control systems, IEEE Trans. Ind. Electron., vol. 51, no. 2, pp. 270-277, Apr. 2004.
9. J. Stephant, A. Charara, and D. Meizel, Virtual sensor: Application to vehicle sideslip angle and traversal forces, IEEE Trans. Ind. Electron., vol. 51, no. 2, pp. 278-289, Apr. 2004.
10. Y. Hori, Future vehicle driven by electricity and control-research on four-wheel-motored 'UOT electric march II', IEEE Trans. Ind. Electron., vol. 51, no. 5, pp. 954-962, Oct. 2004.
11. W. Wang, I. Li, M. Chen, S. Su, and S. Hsu, Dynamic slip-ratio estimation and control of antilock braking systems using an observer-based direct adaptive fuzzy-neural controller, IEEE Trans. Ind. Electron., vol. 56, no. 5, pp. 1746-1756, May 2009.
12. R. Frampton and P. Thomas, Effectiveness of electronic stability control systems in Great Britain, Dept. for Transp., Veh. Safety Res. Centre (VSRC), Loughborough, U.K., Tech. Rep., Mar. 2007.
13. H. Fathy, D. Kang, and J. Stein, Online vehicle mass estimation using recursive least squares and supervisory data extraction, in Proc. Amer. Control Conf., Seattle, WA, USA, Jun. 2008, pp. 1842-1848.
14. P. Sahlholm and K. Johansson, Road grade estimation for look-ahead vehicle control using multiple measurement runs, Control Eng. Pract., vol. 18, no. 11, pp. 1328-1341, Nov. 2010.
15. P. Lingman and B. Schmidtbauer, Road slope and vehicle mass estimation using Kalman filtering, Veh. Syst. Dyn., vol. 37, no. 1, pp. 12-23, Jan. 2002.
16. J. Park, J. Kong, H. Jo, Y. Park, and J. Lee, Measurement of road gradients for the development of driving modes including road gradients, Proc. Inst. Mech. Eng. D, Autom. Eng., vol. 215, no. 9, pp. 997-986, Sep. 2001.
17. S. Mangan, J.Wang, and Q.Wu, Measurement of the road gradient using an inclinometer mounted on a moving vehicle, in Proc. IEEE lnt. Symp. Comput. Aided Contr. Syst. Design, 2002, pp. 80-85.
18. J. Barrho, M. Hiemer, U. Kiencke, and T. Matsunaga, Estimation of elevation difference based on vehicle's inertial sensors, in Proc. 16th IFAC World Congr., Praque, Czech Republic, Jul. 2005, p. 1906.
19. A. Vahidi, A. Stefanopoulou, and H. Peng, Recursive least squares with forgetting for online estimation of vehicle mass and road grade: Theory and experiments, Int. J. Veh. Mech. Mobility, vol. 43, no. 1, pp. 31-55, Jan. 2005. (Pubitemid 40924892)
20. A. Vahidi, A. Stefanopoulou, and H. Peng, Experiments for online estimation of heavy vehicle's mass and time-varying road grade, in Proc. IMECE, Jan. 2003, pp. 1-6.
21. P. Iaonnou and J. Sun, Robust Adaptive Control. Englewood Cliffs, NJ, USA: Prentice-Hall, 1996.
22. V. Adetola and M. Guay, Finite-time parameter estimation in adaptive control of nonlinear systems, IEEE Trans. Autom. Control, vol. 53, no. 3, pp. 807-811, Apr. 2008. (Pubitemid 351597189)
23. V. Adetola and M. Guay, Performance improvement in adaptive control of linearly parameterized nonlinear systems, IEEE Trans. Autom. Control, vol. 55, no. 9, pp. 2182-2186, Sep. 2010.
24. S. Bittanti, P. Bolzern, and M. Campi, Recursive least-squares identification algorithms with incomplete excitation: Convergence analysis and application to adaptive control, IEEE Trans. Autom. Control, vol. 35, no. 12, pp. 1371-1373, Dec. 1990.
25. S. P. Bhat and D. S. Bernstein, Continuous finite-time stabilization of the translational and rotational double integrators, IEEE Trans. Autom. Control, vol. 43, no. 5, pp. 678-682, May 1998. (Pubitemid 128736491)
26. C. Edwards and S. Spurgeon, Sliding Mode Control: Theory and Applications. Boca Raton, FL, USA: CRC Press, 1998.
27. J. Foreman, M. Yazdouni, S. Russo, G. Chan, A. Spiers, G. Herrmann, and P. Barber, Hardware in the loop validation of a gradient and weight estimation algorithm and longitudinal speed control using a laboratory model car, in Proc. ICSE, Coventry, U.K., 2009.
28. G. Herrmann, S. Ge, and G. Guo, Discrete linear control enhanced by adaptive neural networks in application to a hdd-servo-system, Control Eng. Pract., vol. 16, no. 8, pp. 930-945, Aug. 2008.
29. J. Na, G. Herrmann, X. Ren, M. Mahyuddin, and P. Barber, Robust adaptive finite-time parameter estimation and control of nonlinear systems, in Proc. IEEE ISIC, Sep. 2011, pp. 1014-1019.
30. P. Sahlholm, Iterative road grade estimation for heavy duty vehicle control, M.S. thesis, Elektrotek. Syst., Kungliga Tekniska Hogskolan, Stockholm, Sweden, 2008.
31. P. Sahlholm and K. Johansson, Road grade estimation for look-ahead vehicle control, in Proc. 17th IFAC World Congr., 2008, pp. 3380-3385.
32. S. Sastry and M. Bodson, Adaptive Control: Stability, Convergence and Robustness. New York, NY, USA: Dover, 1989.
33. N. Shimkin and A. Feuer, Persistency of excitation in continuous system, Syst. Control Lett., vol. 9, no. 3, pp. 225-233, Sep. 1987.
34. J.-J. Slotine and W. Li, Applied Nonlinear Control. Englewood Cliffs, NJ, USA: Prentice-Hall, Oct. 1990.
35. T. Soderstrom and P. Stoica, System Identification, M. Grimble, Ed. Englewood Cliffs, NJ, USA: Prentice-Hall, 1989.