On the algebraic estimation of whole two-wheeled vehicles dynamics via High Order Sliding Mode Differentiators

Mohammed El-Habib Dabladji (1) , Dalil Ichalal (1) , Hichem Arioui (1) , Said Mammar (1)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

The present study extends our recent result on the states estimation of two-wheeled vehicles. Based on the estimation of the lateral dynamics with the observer proposed in [1], a second estimator is presented in this paper to reconstruct the longitudinal tire-road forces, engine and braking torques. To this end, the longitudinal dynamics is analysed in order to recover the tire-road forces without any knowledge of tire parameters. The effectiveness of the proposed approach is shown through simulation results. Concluding remarks wrap up the paper.

Domaines: Automatique / Robotique

Mohammed El-Habib Dabladji, Dalil Ichalal, Hichem Arioui, Said Mammar. On the algebraic estimation of whole two-wheeled vehicles dynamics via High Order Sliding Mode Differentiators. International Conference on Automatic control, Telecommunication and Signals, Nov 2015, Annaba, Algeria. ⟨hal-01313381⟩