Structured estimation of tire forces and the ground slope using SM observers |
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Authors: | Belgacem Jaballah Nacer Kouider M’Sirdi |
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Affiliation: | Laboratory of the Sciences of the Information and the Systems, LSIS CNRS UMR 7296, Domaine Universitaire St Jerome, Avenue Escadrille Normandie Niemen, 13397 Marseille, France |
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Abstract: | In agricultural context, the principal cause of serious accidents for all-terrain vehicles (ATVs) is rollover. The most important parameters related to this risk is the ground slope. In this paper, we propose a structured observer to estimate the system states and the longitudinal tire forces using only wheel angular velocities measurement. The robust estimation is based on a second order sliding mode observer. This estimation is then used to build up a ground slope estimation. The algorithm is composed by two cascaded estimators. This structured estimation is then applied to the model of an agricultural vehicle G7 (GregoireTM) integrated in the driving simulation environment SCANeRTM-Studio. |
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Keywords: | All-terrain vehicles rollover situation sliding modes observers longitudinal tire forces ground slope |
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