Variable gain sliding mode observer for heavy duty vehicle tyre forces estimation

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, we are interested in developing a robust tyre-force estimator for heavy duty vehicles. A yaw-roll model is used. The main on-board sensors are provided through the CAN-bus of the vehicle to which are added low-cost sensors. The method is based on the use of a variable gain sliding mode observer. The approach is validated by comparing the estimation results to those given by the software vehicle dynamics PROSPER.

Mots clés: POIDS LOURD; ESTIMATION; FORCE; CAPTEUR; SIMULATION

Domaines: Automatique / Robotique

Omar Khemoudj, Hocine Imine, Mohamed Djemai. Variable gain sliding mode observer for heavy duty vehicle tyre forces estimation. VSS10, Jun 2010, France. ⟨hal-00550046⟩