Estimation of Contac Forces and Tire Road Friction

N. M'Sirdi (1) , Abdelhamid Rabhi (2) , Ahmed El Hajjaji

1 LIS - Laboratoire d'Informatique et des Systèmes (LIS) (Marseille, Toulon)
2 MIS - Modélisation, Information et Systèmes - UR UPJV 4290

In this paper a robust differentiator via sliding mode is used to build up an estimation scheme allowing to identify the tire road friction. The estimations are produced in three steps as cascaded observers and estimator. The first produces estimations of velocities and accelerations. The second estimate the tire forces and the last reconstruct the friction coefficient. The actual results show effectiveness and robustness of the proposed method.

Mots clés: Vehicle dynamics; Sliding Modes ob-server; Robust nonlinear observers; Tire forces estimation

Domaines: Automatique / Robotique

N. M'Sirdi, Abdelhamid Rabhi, Ahmed El Hajjaji. Estimation of Contac Forces and Tire Road Friction. MED 2007 Mediterranean Conference on Control & Automation, Jun 2007, Athens, Greece, Greece. ⟨hal-01966648⟩