Title :
Friction force estimation and adaptive control for tire-road contact
Author :
Merzouki, R. ; Bouteldja, M. ; Imine, H. ; Cadiou, J.C.
Author_Institution :
Laboratoire de Robotique de Versailles, Velizy, France
fDate :
28 Sept.-2 Oct. 2004
Abstract :
It is important to estimate the friction force in tire-road contact in order to improve the control performance of a vehicle in critical motions. In this paper, an estimation of a friction force is proposed by using a pressure distribution in 3D. Then, an adaptive control for friction compensation is presented to validate the proposed model.
Keywords :
adaptive control; friction; parameter estimation; road vehicles; adaptive control; friction compensation; friction force estimation; pressure distribution; road vehicle; tire-road contact; Adaptive control; Convergence; Friction; Integral equations; Motion estimation; Nonlinear dynamical systems; Roads; Tires; Velocity control; Wheels;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389773
