Sliding Modes Observers for Estimation of Performance of Heavy Vehicles

Title:3rd International Conference on Advances in Vehicle Control and Safety 2007 (AVCS'07) and 3rd International Conference on Integrated Modeling and Analysis in Applied Control and Automation (IMAACA 2007)Desc:Proceedings of a meeting held 8-10 February 2007, Buenos Aires, Argentina. Held at the International Modeling and Simulation MulticonferenceEditor:Dauphin-Tanguy, G.ISBN:9781629934716Publ:CAL-TEK SRLInternational audienceThe 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