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Tire/Road Contact Condition Identification Using Algebraic Numerical Differentiation
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.
Cited literature [17 references]
https://hal.inria.fr/inria-00374418
Contributor : Thierry Floquet Connect in order to contact the contributor
Submitted on : Wednesday, April 8, 2009 - 4:20:18 PM
Last modification on : Wednesday, March 23, 2022 - 3:51:21 PM
Long-term archiving on: : Thursday, June 10, 2010 - 5:59:21 PM
Contributor : Thierry Floquet Connect in order to contact the contributor
Submitted on : Wednesday, April 8, 2009 - 4:20:18 PM
Last modification on : Wednesday, March 23, 2022 - 3:51:21 PM
Long-term archiving on: : Thursday, June 10, 2010 - 5:59:21 PM
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wmr_id_ifacconf_revised.pdf
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