Dynamics observation and parameters identification of heavy vehicle via second order sliding mode

Abstract

In road transport domain, the use of state dynamics observation/estimation and parametric identification techniques are necessary for control diagnosis. Unfortunately, the use of different methods of observations/estimation and parametric identification is not without risk. This risk can be observed in term of accumulation of errors which can be considerable and more still, on the level of the total stability of the system. This article presents an original method allowing the observation/estimation of sates dynamics and parametric identification. This method is based on the approach of the High order sliding modes, with the application of the super-twisting algorithm and tested on a articulated heavy vehicle model.