Backstepping observer dedicated to tire cornering stiffness estimation: application to an all terrain vehicle and a farm tractor

Abstract

Most of active devices focused on vehicle stability concerns on-road cars and cannot be applied satisfactorily in an off-road context, since the variability and the non-linearities of the tire/ground contact are often neglected. In previous work, a rollover indicator devoted to light ATVs, accounting for these phenomena has been proposed. It is based on the… (More)
DOI: 10.1109/IROS.2007.4398988

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Cite this paper

@article{Bouton2007BacksteppingOD, title={Backstepping observer dedicated to tire cornering stiffness estimation: application to an all terrain vehicle and a farm tractor}, author={Nicolas Bouton and Roland Lenain and Benoit Thuilot and Philippe Martinet}, journal={2007 IEEE/RSJ International Conference on Intelligent Robots and Systems}, year={2007}, pages={1763-1768} }