Skid detection of an autonomous vehicle under extreme driving conditions using a sliding mode observer

This paper studies the problem of accurately detecting skid forces in an autonomous vehicle in order to develop as a tool for controlled skid. Skid estimation and control represents a very challenging problem because of the vehicle´s dynamics when performing a skidding maneuver. The use of sliding mode control and observer approach provides a robust environment for analyzing and controlling such system. A sliding mode observer was developed for an autonomous vehicle in order to generate a reliable platform for simulations and subsequent testing with real-time data acquisition.