Title: Second order sliding-mode observer for estimation of vehicle dynamic parameters

Authors: N.K. M'Sirdi, A. Rabhi, L. Fridman, J. Davila, Y. Delanne

Addresses: LSIS, CNRS UMR 6168, Dom. Univ. St. Jerome, Av. Escadrille Normandie – Niemen 13397, Marseille Cedex 20, France. ' LSIS, CNRS UMR 6168, Dom. Univ. St. Jerome, Av. Escadrille Normandie – Niemen 13397, Marseille Cedex 20, France. ' Department of Control and Robotics, Division of Electrical Engineering, Faculty of Engineering, Universidad Nacional Autonoma de Mexico, Ciudad Universitaria, 04510, D.F., Mexico. ' Department of Control and Robotics, Division of Electrical Engineering, Faculty of Engineering, Universidad Nacional Autonoma de Mexico, Ciudad Universitaria, 04510, D.F., Mexico. ' LCPC Nantes: Division ESAR BP 44341 44 Bouguenais Cedex, France

Abstract: This paper uses second-order sliding mode observers to build up an estimation scheme allowing to identify the tyre 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 tyres. The actual results show effectiveness and robustness of the proposed method.

Keywords: sliding mode observers; nonlinear observers; robust state; stiffness estimation; wheel slip estimation; wheel radius; ABS sensors; angular sensors; anti-lock braking systems; vehicle tyres; vehicle design; vehicle dynamics; rotational velocities; wheel-road contact.

DOI: 10.1504/IJVD.2008.022576

International Journal of Vehicle Design, 2008 Vol.48 No.3/4, pp.190 - 207

Published online: 16 Jan 2009 *

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