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. Résumé, Le cadre général du travail de recherche est l'amélioration de la sécurité routière pour les véhicules automobiles et les conducteurs en

. Dans-le-cadre-de-la-dynamique-du-véhicule, les eorts d'interaction entre le pneumatique et la chaussée sont des données indispensables d'où la nécessité d'estimer en temps réel les variables qui caractérisent ces eorts. Cette estimation est réalisée à l'aide des observateurs non linéaires tel que les observateurs à mode glissant d'ordre 1 et d'ordre supérieure, Une proposition de découpage de modèle dynamique complet de véhicule en trois sous-systèmes (caisse, suspensions et roues) en se basant sur la théorie de passivité

. Mots-clés, Dynamique de véhicule, Modélisation, Passivité, Eorts d'interaction