Vehicle parameter estimation and stability enhancement using sliding modes techniques
by Hassan Shraim, Mustapha Ouladsine, Leonid Fridman, Monica Romero
International Journal of Vehicle Design (IJVD), Vol. 48, No. 3/4, 2008

Abstract: In this paper, tyres longitudinal forces, vehicle side slip angle and velocity are identified and estimated using sliding modes observers. Longitudinal forces are identified using higher order sliding mode observers. In the estimation of the vehicle side slip angle and vehicle velocity, an observer based on the broken super-twisting algorithm is proposed. Validations with the simulator VE-DYNA pointed out the good performance and the robustness of the proposed observers. After validating these observers, controller design for the braking is accomplished using a reduced state space model representing the movement of the vehicle centre of gravity in the (X, Y) plane. Driver's reactions are taken into account. The performance of the closed loop system is carried out by means of simulation tests.

Online publication date: Fri, 16-Jan-2009

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