Title :
Observation and Estimation of Dynamics Performance of Heavy Vehicle Via Second Order Sliding Modes
Author :
Bouteldja, M. ; El Hadri, A. ; Cadiou, J.C. ; Davila, J.A. ; Fridman, L.
Author_Institution :
Public Works Res. Lab., Paris
Abstract :
In this paper an observer based on super-twisting algorithm is proposed to observe the states dynamics of a heavy vehicle and estimate its tire forces. For this application, a particular manoeuvre of cornering is chosen and a nonlinear dynamic model of tractor semi-trailer combination vehicle is developed for this case. The objective of vehicle dynamics observation is to improve the handling performance, and manoeuvrability, in order to obtain a safer and easier driving. In this study, some simulation results are presented to show the effectiveness of the proposed observer
Keywords :
agricultural machinery; force control; nonlinear dynamical systems; observers; road vehicles; tyres; variable structure systems; vehicle dynamics; heavy vehicle; nonlinear dynamic model; second order sliding modes; super-twisting algorithm; tire forces; tractor semi-trailer combination vehicle; vehicle dynamics observation; Databases; Intelligent transportation systems; Laboratories; Road accidents; Safety; Stability; Statistical analysis; Tires; Vehicle dynamics; Vehicles;
Conference_Titel :
Variable Structure Systems, 2006. VSS'06. International Workshop on
Conference_Location :
Alghero, Sardinia
Print_ISBN :
1-4244-0208-5
DOI :
10.1109/VSS.2006.1644531
