Title: Estimation of contact forces and road profile using High-Order Sliding Modes

Authors: A. Rabhi, N.K. M'Sirdi, A. Naamane, B. Jaballah

Addresses: Laboratory of Modelization, Informations and Systems, University of Picardie Jule Verne, 33 rue Saint Leu, 80039 Amiens Cedex 1, France. ' LSIS, CNRS UMR 6168, Dom. Univ. St. Jrme, Av. Escadrille, Normandie – Niemen 13397, Marseille Cedex 20, France. ' LSIS, CNRS UMR 6168, Dom. Univ. St. Jrme, Av. Escadrille, Normandie – Niemen 13397, Marseille Cedex 20, France. ' LSIS, CNRS UMR 6168, Dom. Univ. St. Jrme, Av. Escadrille, Normandie – Niemen 13397, Marseille Cedex 20, France

Abstract: In this paper, we present an algorithm to estimate the contact forces and the road profile. Estimation of tyres contact forces and road profile is based on the use of High-Order Sliding Modes. The estimation has been validated experimentally using a vehicle equipped with sensors. The experimental results show effectiveness and robustness of the proposed method.

Keywords: vehicle dynamics; sliding-mode observers; robust nonlinear observers; road profile; tyre forces; force estimation; contact forces; high-order sliding modes.

DOI: 10.1504/IJVAS.2010.034097

International Journal of Vehicle Autonomous Systems, 2010 Vol.8 No.1, pp.23 - 38

Published online: 12 Jul 2010 *

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