TY - GEN

T1 - Sliding mode observers for the estimation of vehicle parameters, forces and states of the center of gravity

AU - Shraim, Hassan

AU - Ananou, Bouchra

AU - Fridman, Leonid

AU - Noura, Hassan

AU - Ouladsine, Mustapha

PY - 2006

Y1 - 2006

N2 - 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.

AB - 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.

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U2 - 10.1109/cdc.2006.376777

DO - 10.1109/cdc.2006.376777

M3 - Conference contribution

AN - SCOPUS:39649099092

SN - 1424401712

SN - 9781424401710

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 1635

EP - 1640

BT - Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 45th IEEE Conference on Decision and Control 2006, CDC

Y2 - 13 December 2006 through 15 December 2006

ER -