Sliding mode observers for the estimation of vehicle parameters, forces and states of the center of gravity

Hassan Shraim, Bouchra Ananou, Leonid Fridman, Hassan Noura, Mustapha Ouladsine

Research output: Chapter in Book/Report/Conference proceedingConference contribution

40 Citations (Scopus)

Abstract

In this paper, sliding mode (SM) observers are proposed to replace expensive sensors used for the measurement of tires forces, vehicle side slip angle and vehicle velocity. These estimations are done for two important purposes: The first is for the estimation of the forces and parameters needed for vehicle control, while the second is for the diagnosis preview based on the safety region for each parameter and state. For that purpose, the model of the vehicle is divided in two parts, in the first, the dynamical equations of the wheels are used to estimate their longitudinal forces and angular velocities. The estimations of the longitudinal forces are realized using a second order SM observer based on a super-twisting algorithm. In the second part, the estimated longitudinal forces are injected in the reduced state space equations representing the vehicle, which are the equations of side slip angle, yaw rate and the velocity of the vehicle. Estimations in this part are based on the principles of the classical SM observer. In this part the observability of the model is studied. The model takes as input the yaw rate and estimates the side slip angle and the velocity. Validation with the simulator VE-DYNA, at each step, pointed out the good performance and the robustness of the proposed observers.

Original languageEnglish
Title of host publicationProceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1635-1640
Number of pages6
ISBN (Print)1424401712, 9781424401710
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States
Duration: Dec 13 2006Dec 15 2006

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Other

Other45th IEEE Conference on Decision and Control 2006, CDC
Country/TerritoryUnited States
CitySan Diego, CA
Period12/13/0612/15/06

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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