Inria Lille - Nord Europe, Inria Saclay - Ile de France, Ecole Centrale de Lille, X - École polytechnique, CNRS - Centre National de la Recherche Scientifique : UMR8146
Abstract : In this paper, a realistic simulation model for Wheeled Mobile Robot (WMR) is given by a dynamical system that switches between three models corresponding to three different tire/road contact conditions: ideal condition, skidding condition and slipping condition. Then, an algebraic based numerical identification for the discrete state (tire/road contact condition) of this switching system is proposed. Finally, specific estimators for the uncertain parameters encountered in the identification scheme are given.
Type de document :
Communication dans un congrès
IFAC Symposium on System Identification, SYSID, 2009, Saint-Malo, France. 2009
https://hal.inria.fr/inria-00374418
Contributeur : Thierry Floquet
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Soumis le : mercredi 8 avril 2009 - 16:20:18
Dernière modification le : mardi 3 juillet 2018 - 11:39:29
Document(s) archivé(s) le : jeudi 10 juin 2010 - 17:59:21
Lei Yu, Jean-Pierre Barbot, Thierry Floquet. Tire/Road Contact Condition Identification Using Algebraic Numerical Differentiation. IFAC Symposium on System Identification, SYSID, 2009, Saint-Malo, France. 2009. 〈inria-00374418〉
