@inproceedings{9b47566beb3547c38798be8cb1f4de85,
title = "Non-linear observer for slip parameter estimation of unmanned wheeled vehicles",
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 2-D 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 Kaiman 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.",
keywords = "Extended kalman fitler, Sliding mode observer, Slip estimation, UGV autonomy",
author = "Zibin Song and Xiaojing Song and Kaspar Altheoer and Yahya Zweiri and Lakmal Seneviratne",
year = "2007",
doi = "10.1109/ICMA.2007.4303721",
language = "British English",
isbn = "1424408288",
series = "Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007",
pages = "1213--1218",
booktitle = "Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007",
note = "2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 ; Conference date: 05-08-2007 Through 08-08-2007",
}