Estimation of Contact Forces of a Four-Wheel Steering Electric Vehicle by Differential Sliding Mode Observer

Kamel Bouibed , Abdel Aitouche (1) , Abdelhamid Rabhi (2) , Mireille Bayart (1)

1 STF - Systèmes Tolérants aux Fautes
2 MIS - Modélisation, Information et Systèmes - UR UPJV 4290

This paper deals with the estimation of tire/road contact forces. These forces play a big role on the dynamics of vehicles. Basing on longitudinal, lateral, yaw and wheel dynamics of an electric vehicle (''known as Robucar''), the contact forces can be estimated through second order differential sliding mode observer. A step by step algorithm allows estimating velocities and accelerations and then these forces can be deduced. The results are compared with the empirical model of these forces given by Michelin.

Mots clés: vo and control equipment; robots; Forces and torques; Nonlinear dynamics and chaos

Domaines: Automatique / Robotique

Kamel Bouibed, Abdel Aitouche, Abdelhamid Rabhi, Mireille Bayart. Estimation of Contact Forces of a Four-Wheel Steering Electric Vehicle by Differential Sliding Mode Observer. INTELLIGENT SYSTEMS AND AUTOMATION: 1st Mediterranean Conference on Intelligent Systems and Automation (CISA 08)., Jun 2008, Annaba, France. pp.541-546, ⟨10.1063/1.2953042⟩. ⟨hal-00804044⟩