DocumentCode
2350581
Title
Four-wheeled vehicle modelling toward on board dynamics observer
Author
Hadri, A. El ; Cadiou, J.C. ; Chikhi, F.
Author_Institution
Lab. de Robotique de Versailles, Velizy, France
Volume
4
fYear
2003
fDate
27-31 Oct. 2003
Firstpage
3534
Abstract
This paper applies the step by step algorithm based on sliding mode observer to estimate tire forces. To define an observer, a model of a four-wheeled vehicle has been developed. The model is a rigid-body model with 10 degrees-of-freedom, including individual wheel speeds. Then a vehicle dynamic state is defined with the tire forces treated as vehicle variables with unknown dynamics. A field of test results is used to demonstrate the validity of this technique.
Keywords
observers; road vehicles; variable structure systems; vehicle dynamics; 10 DOF; degrees of freedom; four wheeled vehicle modeling; on board dynamics behavior; rigid body model; sliding mode observer; step-by-step algorithm; tire forces estimation; vehicle dynamic state; vehicle variables; wheel speeds; Equations; Friction; Intelligent transportation systems; Observers; Roads; Safety; Tires; Vehicle driving; Vehicle dynamics; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN
0-7803-7860-1
Type
conf
DOI
10.1109/IROS.2003.1249703
Filename
1249703
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