Title :

Estimation of Contact Forces of a Four-Wheel Steering Electric Vehicle by Differential Sliding Mode Observer

Author(s) :

Bouibed, Kamel [Auteur]
Aitouche, Abdel [Auteur correspondant]
Systèmes Tolérants aux Fautes [STF]
Rabhi, Abdelhamid [Auteur]
Modélisation, Information et Systèmes - UR UPJV 4290 [MIS]
Merchez, Mireille [Auteur]
Systèmes Tolérants aux Fautes [STF]

Conference title :

INTELLIGENT SYSTEMS AND AUTOMATION: 1st Mediterranean Conference on Intelligent Systems and Automation (CISA 08).

City :

Annaba

Country :

France

Start date of the conference :

2008-06-29

Book title :

AIP Conference Proceedings

Publication date :

2008-07-02

English keyword(s) :

vo and control equipment
robots
Forces and torques
Nonlinear dynamics and chaos

HAL domain(s) :

Sciences de l'ingénieur [physics]/Automatique / Robotique

English abstract : [en]

This paper deals with the estimation of tire/road contact forces. These forces play a big role on the dynamics of vehicles. Basing on longitudinal, lateral, yaw and wheel dynamics of an electric vehicle (''known as Robucar''), ...
Show more >This paper deals with the estimation of tire/road contact forces. These forces play a big role on the dynamics of vehicles. Basing on longitudinal, lateral, yaw and wheel dynamics of an electric vehicle (''known as Robucar''), the contact forces can be estimated through second order differential sliding mode observer. A step by step algorithm allows estimating velocities and accelerations and then these forces can be deduced. The results are compared with the empirical model of these forces given by Michelin.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL