Title: Sliding mode observers to replace vehicles expensive sensors and to preview driving critical situations

Authors: Hassan Shraim, Mustapha Ouladsine, Leonid Fridman

Addresses: Laboratory of Sciences of Informations and of Systems, LSIS UMR 6168 University of Paul Cezanne, Aix-Marseille III Av., escadrille de Normandie, Niemen 13397 Marseille Cedex 20, France. ' Laboratory of Sciences of Informations and of Systems, LSIS UMR 6168 University of Paul Cezanne, Aix-Marseille III Av., escadrille de Normandie, Niemen 13397 Marseille Cedex 20, France. ' Engineering Faculty, Department of Control, Division of Electrical Engineering, National Autonomous University of Mexico (UNAM), Ciudad Universitaria, 04510, D.F, Mexico

Abstract: In this paper, tyre longitudinal forces, vehicle side-slip angle and velocity are identified and estimated using a sliding mode observer. For this purpose and in order to insure the observability of the system, the model is decoupled in two parts. In the first part, longitudinal forces are identified using a second order sliding mode observer based on a modified super-twisting algorithm, while in the second part, vehicle velocity and side-slip angle are estimated using a classical sliding mode observer. Validations with the simulator VE-DYNA pointed out the good performance and the robustness of the proposed observers.

Keywords: estimation; sliding mode observers; automotive; vehicle parameters; tyre forces; longitudinal forces; vehicle sideslip angle; vehicle velocity.

DOI: 10.1504/IJVAS.2007.016408

International Journal of Vehicle Autonomous Systems, 2007 Vol.5 No.3/4, pp.345 - 361

Available online: 28 Dec 2007 *

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