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Unknown input observation via sliding modes : application to vehicle contact forces

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3 Author(s)
Khemoudj, O. ; Lab. Central des Ponts et Chaussees, LEPSIS, Paris, France ; Imine, H. ; Djemai, M.

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.

Published in:

Control Applications, (CCA) & Intelligent Control, (ISIC), 2009 IEEE

Date of Conference:

8-10 July 2009