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
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;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249703
