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Design method of sliding model observer for vehicle state
Author(s): 
Pages: 565-570
Year: Issue:  4
Journal: Electric Machines and Control

Keyword:  vehicle statesliding mode observertire-road friction coefficientvehicle dynamics;
Abstract: In order to meet the requirements of some state parameters in vehicle active safety control systems, a nonlinear vehicle dynamic model with three degrees of freedom of longitudinal, lateral and yaw motion was established, based on analysis of vehicle and tire dynamic behaviors. By introducing Luenberger-type feedback terms, a sliding mode observer for estimating the longitudinal velocity, lateral velocity and yaw rate was proposed. According to Lyapunov stability theory, a sufficient condition was derived to guarantee the convergence of the observer. Finally, a selection method of the observer gains was presented based on an example of application, and then the observer was evaluated experimentally under a variety of maneuvers and road conditions. The experimental results show that the proposed observer has good performance, and a limited number of errors in the tire-road friction coefficient are permitted.
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