Title: Vehicle parameter estimation and stability enhancement using sliding modes techniques

Authors: Hassan Shraim, Mustapha Ouladsine, Leonid Fridman, Monica Romero

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. ' Department of Control, Division of Electrical Engineering, National Autonomous University of Mexico (UNAM), Ciudad Universitaria, 04510, DF, Mexico. ' Facultad de Cs. Exacts, Ingenieria y Agrimensura, Departemento de Electronica, Universidad Nacional de Rosario – Argentina

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.

Keywords: sliding mode observers; vehicle parameter estimation; vehicle design; tyre longitudinal forces; vehicle side slip angle; vehicle velocity; controller design; braking control; driver reactions; simulation; stability enhancement.

DOI: 10.1504/IJVD.2008.022578

International Journal of Vehicle Design, 2008 Vol.48 No.3/4, pp.230 - 254

Published online: 16 Jan 2009 *

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