Second Order Sliding-Mode Observer for Estimation of Vehicle Dynamic Parameters

N. M'Sirdi (1) , Abdelhamid Rabhi (2) , L. Fridman (3) , J. Davila (4) , Y Delanne

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
4 GSFC - NASA Goddard Space Flight Center

This paper uses second-order sliding mode observers to build up an estimation scheme allowing to identify the tire longitudinal equivalent stiffness and the effective wheel radius using the existing ABS angular sensors. This estimation strategy, based on use of the proposed observer could be used with data acquired experimentally to identify the longitudinal stiffness and effective radius of vehicle tires. The actual results show effectiveness and robustness of the proposed method.

Mots clés: Sliding mode; Nonlinear observers; Robust state and stiffness estimation; Wheel slip estimation

Domaines: Automatique / Robotique

N. M'Sirdi, Abdelhamid Rabhi, L. Fridman, J. Davila, Y Delanne. Second Order Sliding-Mode Observer for Estimation of Vehicle Dynamic Parameters. International Journal of Vehicle Design, 2008. ⟨hal-01966663⟩