Thumbnail
Access Restriction
Open

Author M'Sirdi, N. ♦ Boubezoul, A. ♦ Rabhi, A. ♦ Fridman, L.
Source Hyper Articles en Ligne (HAL)
Content type Text
Publisher CAL-TEK SRL
File Format PDF
Language English
Subject Keyword Unknown input observer ♦ Heavy Vehicle Modeling ♦ Sliding Mode Ob-servers ♦ First and second order sliding modes ♦ Estimation of contact forces ♦ spi ♦ Engineering Sciences [physics]/Automatic
Abstract The main objective of this work, is to improve performance handling or maneuverability, by means of the observation of vehicle dynamics in order to obtain safer and an easier driving. A nominal model is proposed to describe the nonlinear dynamic of a tractor and semi-trailer vehicle. The model is developed for the case of cornering manoeuvre at constant speed. First and second order sliding mode observers are developed to estimate the vehicle state. Input lateral forces are estimated in a last step. We focus our work to on-line observation of the system states variables and estimation of the lateral tires forces of heavy vehicles. Simulation results are compared to validate the approach.
Educational Use Research
Learning Resource Type Proceeding
Page Count 6
Starting Page 313
Ending Page 318