Title :
Unknown input observation via sliding modes : application to vehicle contact forces
Author :
Khemoudj, O. ; Imine, H. ; Djemaï, M.
Author_Institution :
Lab. Central des Ponts et Chaussees, LEPSIS, Paris, France
Abstract :
In this paper, a method to estimate vehicle contact forces for trucks by the use of sliding mode observation tools is presented. The purpose is to use non linear observers and consider contact forces as unknown inputs for the model. We use both a bicycle model to derive the longitudinal and lateral forces and an axle model validated with a software simulator to obtain the vertical forces.
Keywords :
bicycles; force control; nonlinear control systems; road traffic; traffic control; variable structure systems; axle model; bicycle model; lateral force; longitudinal force; nonlinear observer; sliding mode observation tool; truck; vehicle contact forces; Axles; Bicycles; Control systems; Force control; Road vehicles; Sliding mode control; State estimation; Tires; Vehicle dynamics; Wheels;
Conference_Titel :
Control Applications, (CCA) & Intelligent Control, (ISIC), 2009 IEEE
Conference_Location :
St. Petersburg
Print_ISBN :
978-1-4244-4601-8
Electronic_ISBN :
978-1-4244-4602-5
DOI :
10.1109/CCA.2009.5280715
