A Tire Stiffness Backstepping Observer Dedicated to All-Terrain Vehicle Rollover Prevention

Abstract : Most active devices focused on vehicle stability concern on-road cars and cannot be applied satisfactorily in an off-road context, since the variability and the non-linearities of tire/ground contact are often neglected. In previous work, a rollover indicator devoted to light all-terrain vehicles accounting for these phenomena has been proposed. It is based on the prediction of the lateral load transfer. However, such an indicator requires the on-line knowledge of the tire cornering stiffness. Therefore, in this paper, an adapted backstepping observer, making use only of yaw rate measurement, is designed to estimate tire cornering stiffness and to account for its non-linearity. The capabilities of such an observer are demonstrated and discussed through both advanced simulations and actual experiments
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Article dans une revue
Advanced Robotics, Taylor & Francis, 2008, 22 (12), pp. 1267-1285. 〈10.1163/156855308X344828〉
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https://hal.archives-ouvertes.fr/hal-00344108
Contributeur : Benoit Thuilot <>
Soumis le : mercredi 3 décembre 2008 - 16:56:05
Dernière modification le : samedi 28 juillet 2018 - 20:44:03

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Nicolas Bouton, Roland Lenain, Benoît Thuilot, Philippe Martinet. A Tire Stiffness Backstepping Observer Dedicated to All-Terrain Vehicle Rollover Prevention. Advanced Robotics, Taylor & Francis, 2008, 22 (12), pp. 1267-1285. 〈10.1163/156855308X344828〉. 〈hal-00344108〉

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