Sliding Modes Observers for vehicle dynamics and Structured Estimation (SE-SMO)

This paper show how to handle modeling of mobile robots or vehicles to get efficient Sliding Mode Observers and Structured Estimators of unknown inputs. To avoid observability problems the car model is decomposed for partial state robust observation. Finite time converging estimations are obtained with SMO. This decomposition method leads a Variable Structure System, giving good estimates of unknown inputs variables and environment parameters (subsystems states, environment and ground variables, interaction forces). Robust Sliding Mode Observers and unknown input estimations are developed.