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Four-wheeled vehicle modelling toward on board dynamics observer

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3 Author(s)
Hadri, A.E. ; Lab. de Robotique de Versailles, Velizy, France ; Cadiou, J.C. ; Chikhi, F.

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.

Published in:

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on  (Volume:4 )

Date of Conference:

27-31 Oct. 2003