Observers With Unknown Inputs to Estimate Contact Forces and Road Profile

Abdelhamid Rabhi (1) , H Imine , Nacer M'Sirdi (2) , Y Delanne

1 MIS - Modélisation, Information et Systèmes - UR UPJV 4290
2 LIS - Laboratoire d'Informatique et des Systèmes (LIS) (Marseille, Toulon)

This paper presents sliding mode observers designed to estimate tire forces and road profile. Tire forces affect the vehicle dynamic performance and behavior properties. The tire forces and road friction are difficult to measure and their modelling is rather complex. In this work we deal with a simple model of vehicle combined with sliding mode approach to develop robust observers.

Mots clés: Nonlinear observers; Sliding Modes; Vehicle-Road Interaction Models; State Estimation; Tire Forces; Road Profile

Domaines: Automatique / Robotique

Abdelhamid Rabhi, H Imine, Nacer M'Sirdi, Y Delanne. Observers With Unknown Inputs to Estimate Contact Forces and Road Profile. AVCS 2004, Oct 2004, Genova, Italy. ⟨hal-01967644⟩