Application of a non-linear sliding mode observer for truck tyre forces estimation
by M. Bouteldja, A. El Hadri, J.C. Cadiou, V. Dolcemascolo
International Journal of Vehicle Systems Modelling and Testing (IJVSMT), Vol. 2, No. 1, 2007

Abstract: In this paper, an observer based on step by step algorithm is proposed to observe the states dynamics of a heavy vehicle and estimate its tyre forces. This observation technique is suitable for the class of systems which can be written under triangular form. This work is focused on the lateral tyre forces estimation based on a particular cornering manoeuvre with constant velocity. Then, we developed a non-linear dynamic model of the tractor semi-trailer combination vehicle. From this model written under triangular form, a sliding mode observer is proposed to reconstruct the truck dynamics and the tyre forces. Simulation of observation results is presented to show the effectiveness of the proposed observer.

Online publication date: Thu, 30-Nov-2006

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