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Estimation of Lateral Dynamics and Road Curvature for Two-Wheeled Vehicles: A HOSM Observer approach
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.
Cited literature [16 references]
https://hal.inria.fr/hal-00964085
Contributor : Hichem Arioui <>
Submitted on : Monday, March 24, 2014 - 9:28:19 AM
Last modification on : Tuesday, June 30, 2020 - 11:56:07 AM
Long-term archiving on: : Tuesday, June 24, 2014 - 11:01:58 AM
Contributor : Hichem Arioui <>
Submitted on : Monday, March 24, 2014 - 9:28:19 AM
Last modification on : Tuesday, June 30, 2020 - 11:56:07 AM
Long-term archiving on: : Tuesday, June 24, 2014 - 11:01:58 AM
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ifac2014.pdf
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