Variable gain sliding mode observer for heavy duty vehicle tyre forces estimation

Abstract

In the paper a methodology of robust tyre-force estimation for heavy duty vehicles using higher order sliding mode observers is developed. For this goal yaw-roll model is used. The main on-board sensors are provided through the CAN-bus of the vehicle, but low-cost sensors are added. The approach is validated by comparing the estimation results to those given by the software vehicle dynamics PROSPER.