Title: Heavy duty vehicle tyre forces estimation using variable gain sliding mode observer

Authors: O. Khemoudj; H. Imine; M. Djemaï

Addresses: Université Paris-Est, LEPSIS, IFSTTAR 58, Boulevard Lefèbvre, 75015 Paris, France ' Université Paris-Est, LEPSIS, IFSTTAR 58, Boulevard Lefèbvre, 75015 Paris, France ' Univ Lille Nord de France, F-59000 Lille, France UVHC, LAMIH, F-59313 Valenciennes, France CNRS, UMR 8530, F-59313 Valenciennes, France

Abstract: In this paper an original method for estimating heavy duty vehicle tyre forces is presented. The method is based on a variable gain sliding mode observer. The main on-board sensors are available through the CAN-bus of the vehicle to which low-cost sensors are added. The approach is validated by comparing the estimated forces to those provided by the software vehicle dynamics simulator PROSPER.

Keywords: heavy duty vehicles; sliding mode observers; variable gain; exact differentiator; on-board sensors; heavy vehicles; tyre forces; force estimation; CAN bus; vehicle dynamics simulation.

DOI: 10.1504/IJVD.2013.052710

International Journal of Vehicle Design, 2013 Vol.62 No.2/3/4, pp.274 - 288

Received: 02 Nov 2010
Accepted: 30 Sep 2011

Published online: 18 Mar 2013 *

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