Model Splitting and First Order Sliding Mode Observers for Estimation and Diagnosis in Vehicle

B. Jaballah , A. Naamane , H. Messaoud , N. M'Sirdi (1)

1 LIS - Laboratoire d'Informatique et des Systèmes (LIS) (Marseille, Toulon)

In this paper a 16 Dof vehicle model is decomposed and used for partial state observation and some inputs estimation. The used sub-models are non linearly coupled and shown to behave well in application. Robust partial state observers with estimation of unknown inputs are developed using First Order Sliding Modes.

Mots clés: Vehicles Dynamic; Sliding Modes observer; Robust nonlinear observers; Robust Estimation; Diagnosis and testing; Coupled Sub-Models; Passive Systems

Domaines: Automatique / Robotique

B. Jaballah, A. Naamane, H. Messaoud, N. M'Sirdi. Model Splitting and First Order Sliding Mode Observers for Estimation and Diagnosis in Vehicle. 12th IFAC Symposium on Transportation Systems Redondo Beach, CA, USA, September 2-4, 2009, Sep 2009, Redondo Beach, United States. pp.407-412, ⟨10.3182/20090902-3-us-2007.0088⟩. ⟨hal-01966658⟩