Unknown input observation via sliding modes : application to vehicle contact forces

Omar Khemoudj (1) , Hocine Imine (1) , Mohamed Djemai (2)

1 LEPSIS - Laboratoire Exploitation, Perception, Simulateurs et Simulations
2 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201

In this paper, a method to estimate vehicle contact forces for trucks by the use of sliding mode observation tools is presented. The purpose is to use non linear observers and consider contact forces as unknown inputs for the model. We use both a bicycle model to derive the longitudinal and lateral forces and an axle model validated with a software simulator to obtain the vertical forces.

Mots clés: POIDS LOURD; FORCE; ESTIMATION; METHODE

Domaines: Autre

Omar Khemoudj, Hocine Imine, Mohamed Djemai. Unknown input observation via sliding modes : application to vehicle contact forces. IEEE MULTI-CONFERENCE ON SYSTEMS AND CONTROL 2009 (ACC'09), Jul 2009, France. pp 1720-1725. ⟨hal-00489301⟩