Title :
Variable gain sliding mode observer for heavy duty vehicle tyre forces estimation
Author :
Khemoudj, O. ; Imine, H. ; Djemaï, M. ; Fridman, L.
Author_Institution :
Lab. Central des Ponts et Chaussees, LEPSIS, Paris, France
Abstract :
In the paper a methodology of robust tyre-force estimation for heavy duty vehicles using higher order sliding mode observers is developed. For this goal yaw-roll model is used. The main on-board sensors are provided through the CAN-bus of the vehicle, but low-cost sensors are added. The approach is validated by comparing the estimation results to those given by the software vehicle dynamics PROSPER.
Keywords :
controller area networks; observers; road vehicles; sensors; tyres; variable structure systems; vehicle dynamics; CAN bus; PROSPER; heavy duty vehicle tyre forces estimation; sensors; software vehicle dynamics; variable gain sliding mode observer; yaw roll model; Axles; Capacitive sensors; Filters; Force measurement; Gain; Road vehicles; Strain measurement; Tires; Vehicle dynamics; Wheels;
Conference_Titel :
Variable Structure Systems (VSS), 2010 11th International Workshop on
Conference_Location :
Mexico City
Print_ISBN :
978-1-4244-5829-5
Electronic_ISBN :
978-1-4244-5830-1
DOI :
10.1109/VSS.2010.5544542
