Estimation of Lateral Dynamics and Road Curvature for Two-Wheeled Vehicles: A HOSM Observer approach

Mohammed El-Habib Dabladji 1 Dalil Ichalal 1 Hichem Arioui 1 Saïd Mammar 1
1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
Abstract : In this work, two high order sliding mode observers under cascade form are proposed in order to estimate the important states and inputs affecting the lateral dynamics of twowheeled vehicles. The first observer is based on a vision system and is used to estimate the lateral velocity of the vehicle. This velocity is considered as an additional measure for the second observer which is designed to estimate the tire forces, the roll angle and torque applied to the handle-bar. The main contribution of this work is the estimation of the tire forces even with the variation of the longitudinal velocity and without the prior knowledge of the pneumatic coefficients.
Keywords : Vision system High order sliding mode observer Two-wheeled vehicles
Type de document :
Communication dans un congrès
19th IFAC World Congress on International Federation of Automatic Control (IFAC 2014), Aug 2014, Cape Town, South Africa. 19, pp.2806--2811, 2014
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Mohammed El-Habib Dabladji, Dalil Ichalal, Hichem Arioui, Saïd Mammar. Estimation of Lateral Dynamics and Road Curvature for Two-Wheeled Vehicles: A HOSM Observer approach. 19th IFAC World Congress on International Federation of Automatic Control (IFAC 2014), Aug 2014, Cape Town, South Africa. 19, pp.2806--2811, 2014. 〈hal-00964085〉

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