Sliding Modes Observers for Estimation of Performance of Heavy Vehicles

N. M'Sirdi (1) , A Boubezoul , Abdelhamid Rabhi (2) , L. Fridman (3)

1 LIS - Laboratoire d'Informatique et des Systèmes (LIS) (Marseille, Toulon)
2 MIS - Modélisation, Information et Systèmes - UR UPJV 4290
3 Departamento de Ingeniera de Control y Robtica

The main objective of this work, is to improve performance handling or maneuverability, by means of the observation of vehicle dynamics in order to obtain safer and an easier driving. A nominal model is proposed to describe the nonlinear dynamic of a tractor and semi-trailer vehicle. The model is developed for the case of cornering manoeuvre at constant speed. First and second order sliding mode observers are developed to estimate the vehicle state. Input lateral forces are estimated in a last step. We focus our work to on-line observation of the system states variables and estimation of the lateral tires forces of heavy vehicles. Simulation results are compared to validate the approach.

Mots clés: First and second order sliding modes; Estimation of contact forces; Unknown input observer; Heavy Vehicle Modeling; Sliding Mode Ob-servers

Domaines: Automatique / Robotique

N. M'Sirdi, A Boubezoul, Abdelhamid Rabhi, L. Fridman. Sliding Modes Observers for Estimation of Performance of Heavy Vehicles. 3rd International Conference on Adavances in Vehicle Control and Safety (AVCS 2007), Feb 2007, Buenos Aires, Argentina., Feb 2007, Buenos Aires, Argentina. pp.313-318. ⟨hal-01966657⟩