Tire Force Estimation using a Proportional Integral Observer

Ahmad Farhat, Damien Koenig, Diana Hernandez-Alcantara, Ruben Morales-Menendez

Research output: Contribution to conferencePaper

9 Citations (Scopus)


This paper addresses a method for detecting critical stability situations in the lateral vehicle dynamics by estimating the non-linear part of the tire forces. These forces indicate the road holding performance of the vehicle. The estimation method is based on a robust fault detection and estimation approach which minimize the disturbance and uncertainties to residual sensitivity. It consists in the design of a Proportional Integral Observer (PIO), while minimizing the well known H norm for the worst case uncertainties and disturbance attenuation, and combining a transient response specification. This multi-objective problem is formulated as a Linear Matrix Inequalities (LMI) feasibility problem where a cost function subject to LMI constraints is minimized. This approach is employed to generate a set of switched robust observers for uncertain switched systems, where the convergence of the observer is ensured using a Multiple Lyapunov Function (MLF). Whilst the forces to be estimated can not be physically measured, a simulation scenario with CarSim TM is presented to illustrate the developed method.

Original languageEnglish
Publication statusPublished - 19 Jan 2017
Externally publishedYes
EventJournal of Physics: Conference Series -
Duration: 19 Jan 2017 → …


ConferenceJournal of Physics: Conference Series
Period19/1/17 → …

Bibliographical note

Publisher Copyright:
© Published under licence by IOP Publishing Ltd.

Copyright 2018 Elsevier B.V., All rights reserved.

All Science Journal Classification (ASJC) codes

  • General Physics and Astronomy


Dive into the research topics of 'Tire Force Estimation using a Proportional Integral Observer'. Together they form a unique fingerprint.

Cite this