Estimation of contact forces and tire road friction

Estimation of contact forces and tire road friction

In this paper an estimation scheme is used to built using a robust differentiator and sliding modes. This allows us to identify the tire road friction. The estimations are produced in three cascaded steps of observers and estimators. The first produces estimations of velocities and accelerations. Th...

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Bibliographische Detailangaben
Hauptverfasser: Rabhi, A., M'Sirdi, N.K., Elhajjaji, A.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Control systems
Equations
estimation
Friction
Road safety
Robust nonlinear observers
Robustness
Sliding mode control
Sliding Modes observer
tire forces
Tires
Vehicle dynamics
Vehicle safety
Wheels
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Beschreibung
Zusammenfassung:In this paper an estimation scheme is used to built using a robust differentiator and sliding modes. This allows us to identify the tire road friction. The estimations are produced in three cascaded steps of observers and estimators. The first produces estimations of velocities and accelerations. The second estimate the tire forces and the last reconstruct the friction coefficient. The application results show effectiveness and robustness of this method.
DOI:10.1109/MED.2007.4433875