Second order sliding-mode observer for estimation of vehicle dynamic parameters

Nacer Kouider M'Sirdi (1) , Abdelhamid Rabhi (2) , L. Fridman (3) , J. Davila (4) , Y Delanne (5)

1 LSIS - Laboratoire des Sciences de l'Information et des Systèmes
2 MIS - Modélisation, Information et Systèmes - UR UPJV 4290
3 UNAM - Instituto de Matematicas
4 GSFC - NASA Goddard Space Flight Center
5 LCPC/ESAR - Division Entretien, Sécurité et Acoustique des Routes

This paper uses second-order sliding mode observers to build up an estimation scheme allowing to identify the tyre longitudinal equivalent stiffness and the effective wheel radius using the existing ABS angular sensors. This estimation strategy, based on use of the proposed observer could be used with data acquired experimentally to identify the longitudinal stiffness and effective radius of vehicle tyres. The actual results show effectiveness and robustness of the proposed method.

Mots clés: nonlinear observers; robust state and stiffness estimation; wheel slip estimation; Index Terms—Sliding modes; sliding modes

Domaines: Automatique / Robotique

Nacer Kouider M'Sirdi, Abdelhamid Rabhi, L. Fridman, J. Davila, Y Delanne. Second order sliding-mode observer for estimation of vehicle dynamic parameters. International Journal of Vehicle Design, 2008, 48 (3-4), pp.190-207. ⟨10.1504/IJVD.2008.022576⟩. ⟨hal-01741315⟩