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