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Tire/Road Contact Condition Identification Using Algebraic Numerical Differentiation

Lei Yu 1, 2 Jean-Pierre Barbot 1, 2 Thierry Floquet 2, 3 
2 ALIEN - Algebra for Digital Identification and Estimation
Inria Lille - Nord Europe, Inria Saclay - Ile de France, Centrale Lille, X - École polytechnique, CNRS - Centre National de la Recherche Scientifique : UMR8146
3 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
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.
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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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  • HAL Id : inria-00374418, version 1



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. ⟨inria-00374418⟩



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