Robust sliding mode observer for automatic steering of vehicles

This paper deals with the observer design problem for automatic steering of vehicles which have uncertain parameters. The lateral motion of the vehicles is considered, and the variation of cornering stiffness coefficients is treated as model perturbations. A sliding mode observer is derived, which is robust against the model perturbations, such that the observation errors converge to zero asymptotically in finite time. Simulation results show that the designed observer is satisfactory