Second order sliding mode observer for estimation of velocities, wheel sleep, radius and stiffness

This paper uses second-order sliding mode observers to build up an estimation scheme allowing to identify the tire longitudinal equivalent stiffness and the effective wheel radius using the existing ABS angular sensors. This estimation strategy, based on use of the proposed observer could be used with data acquired experimentally to identify the longitudinal stiffness and effective radius of vehicle tires. The actual results show effectiveness and robustness of the proposed method