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, Ecole Centrale de 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 (CRIStAL) - 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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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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