VEHICLE MODELS AND ESTIMATION OF CONTACT FORCES AND TIRE ROAD FRICTION

Nacer K. M’Sirdi, Abdelhamid Rabhi, Aziz Naamane

2007

Abstract

In this paper a 16 DoF vehicle model is presented and discussed. Then some partial models are considered and justified for the design of robust estimators using sliding mode approach in order to identify the tire-road friction or input variables. The estimations produced are based on split system equations in as cascaded observers and estimators. The first produces estimations of vehicle states.

References

  1. F. Gustafsson, ”Slip-based tire-road friction estimation”, Automatica, vol 33, no. 6, pp. 1087-1097, 1997.
  2. J. Ackermann ”Robust control prevents car skidding. IEEE Control systems magazine, V17, N3, pp23-31, 1997
  3. N. K. M'sirdi, A. Rabhi, N. Zbiri and Y. Delanne. VRIM: Vehicle Road Interaction Modelling for Estimation of Contact Forces. Accepted for TMVDA 04. 3rd Int. Tyre Colloquium Tyre Models For Vehicle Dynamics Analysis August 30-31, 2004 University of Technology Vienna, Austria
  4. C. Canudas de Wit, P.Tsiotras, E.Velenis, M.Basset, G.Gissinger. Dynamic Friction Models for Road/Tire Longitudinal Interaction. Vehicle Syst. Dynamics 2003. V39, N3, pp 189-226.
  5. Laura Ray. Nonlinear state and tire force estimation for advanced vehicle control. IEEE T on control systems technology, V3, N1, pp117-124, march 1995.
  6. Nacer K. M'Sirdi. Observateurs robustes et estimateurs pour l'estimation de la dynamique des véhicules et du contact pneu - route. JAA. Bordeaux, 5-6 Nov 2003
  7. S. Drakunov, U. Ozguner, P. Dix and B. Ashrafi. ABS control using optimum search via sliding modes. IEEE Trans. Control Systems Technology, V 3, pp 79-85, March 1995.
  8. A. Rabhi, H. Imine, N. M' Sirdi and Y. Delanne. Observers With Unknown Inputs to Estimate Contact Forces and Road Profile AVCS'04 International Conference on Advances in Vehicle Control and Safety Genova - Italy, October 28-31 2004
  9. Christopher R. Carlson. Estimation With Applications for Automobile Dead Reckoning and Control. PhD thesis, University of STANDFOR 2003.
  10. U. Kiencken, L. Nielsen. Automotive Control Systems. Springer, Berlin, 2000.
  11. Mendoza, Sur la modèlisation et la commande des véhicules automobiles, Thèse, Juillet 1997.
  12. H. Imine, N. M'Sirdi, L. Laval, Y. Delanne - Sliding Mode Observers for Systems with Unknown Inputs: Application to estimate the Road Profile. A paraˆitre dans ASME, Journal of Dynamic Systems, Measurement and Control en mars 2003.
  13. R. Ramirez-Mendoza. Sur la mod élisation et la commande des véhicules automobiles. PHD thesis Institut National Polytechnique de Grenoble, Laboratoire d Automatique de Grenoble 1997.
  14. G. Beurier. Modélisation et la commande de système. PHD thesis LRP. UPMC Paris 6, 1998.
  15. J. Davila and L. Fridman. “Observation and Identification of Mechanical Systems via Second Order Sliding Modes”, 8th. International Workshop on Variable Structure Systems,September 2004, Espana
  16. A. Levant, ”Robust exact differentiation via sliding mode technique”, Automatica, vol. 34(3), 1998, pp 379-384.
  17. A. F. Filippov, Differential Equations with Discontinuous Right-hand Sides, Dordrecht, The Netherlands:Kluwer Academic Publishers; 1988.
  18. V. Utkin, J. Guldner, J. Shi, Sliding Mode Control in Electromechanical Systems, London, UK:Taylor & Francis; 1999.
  19. J. Alvarez, Y. Orlov, and L. Acho, ”An invariance principle for discontinuous dynamic systems with application to a coulomb friction oscillator”, Journal of Dynamic Systems, Measurement, and Control, vol. 122, 2000, pp 687-690.
  20. Levant, A. Higher-order sliding modes, differentiation and output-feedback control, International Journal of Control, 2003, Vol.76, pp.924-941
Download


Paper Citation


in Harvard Style

K. M’Sirdi N., Rabhi A. and Naamane A. (2007). VEHICLE MODELS AND ESTIMATION OF CONTACT FORCES AND TIRE ROAD FRICTION . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: IVCS, (ICINCO 2007) ISBN 978-972-8865-83-2, pages 351-358. DOI: 10.5220/0001636403510358


in Bibtex Style

@conference{ivcs07,
author={Nacer K. M’Sirdi and Abdelhamid Rabhi and Aziz Naamane},
title={VEHICLE MODELS AND ESTIMATION OF CONTACT FORCES AND TIRE ROAD FRICTION},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: IVCS, (ICINCO 2007)},
year={2007},
pages={351-358},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001636403510358},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: IVCS, (ICINCO 2007)
TI - VEHICLE MODELS AND ESTIMATION OF CONTACT FORCES AND TIRE ROAD FRICTION
SN - 978-972-8865-83-2
AU - K. M’Sirdi N.
AU - Rabhi A.
AU - Naamane A.
PY - 2007
SP - 351
EP - 358
DO - 10.5220/0001636403510358