Sliding Modes Observers for vehicle dynamics and Structured Estimation (SE-SMO)

This paper show how to handle modeling of mobile robots or vehicles to get efficient Sliding Mode Observers and Structured Estimators of unknown inputs. To avoid observability problems the car model is decomposed for partial state robust observation. Finite time converging estimations are obtained with SMO. This decomposition method leads a Variable Structure System, giving good estimates of unknown inputs variables and environment parameters (subsystems states, environment and ground variables, interaction forces). Robust Sliding Mode Observers and unknown input estimations are developed.

[1]  L. Fridman,et al.  Second order sliding mode observer for estimation of velocities, wheel sleep, radius and stiffness , 2006, 2006 American Control Conference.

[2]  Emil Geles,et al.  L'hyperstabilité des systèmes automatiques , 1973 .

[3]  G. P. Szegö,et al.  Stability theory of dynamical systems , 1970 .

[4]  A. Naamane,et al.  Robust Observers and Unknown Input Observers for estimation, diagnosis and control of vehicle dynamics , 2008 .

[5]  Leon O. Chua,et al.  Energy concepts in the state-space theory of nonlinear n-ports: Part I-Passivity , 1981 .

[6]  Ramirez Mendoza,et al.  Sur la modélisation et la commande des véhicules automobiles , 1997 .

[7]  Mathieu Grossard,et al.  Modélisation, Identification et Commande de Robots à Articulations Flexibles , 2013 .

[8]  Abdelhamid Rabhi,et al.  Vehicle models and estimation of contact forces and tire road friction. , 2007 .

[9]  Romeo Ortega,et al.  Adaptive motion control of rigid robots: a tutorial , 1988, Proceedings of the 27th IEEE Conference on Decision and Control.

[10]  R.V. Monopoli,et al.  Adaptive control: The model reference approach , 1981, Proceedings of the IEEE.

[11]  Mark W. Spong,et al.  Adaptive motion control of rigid robots: a tutorial , 1988, Proceedings of the 27th IEEE Conference on Decision and Control.

[12]  G. Venture,et al.  IDENTIFICATION DES PARAMETRES DYNAMIQUES D'UNE VOITURE , 2003 .

[13]  N. M'Sirdi,et al.  Application of Sliding Mode Control to Robotic Systems , 2002 .

[14]  Hans B. Pacejka,et al.  Tyre Models for Vehicle Dynamics Analysis , 1995 .

[15]  Ioan Doré Landau,et al.  Synthesis of adaptive controllers for robot manipulators using a passive feedback systems approach , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[16]  Jean-François Balmat,et al.  Modelling for Control and diagnosis for a class of Non Linear complex switched systems , 2007 .

[17]  P. E. Wellstead,et al.  Introduction to physical system modelling , 1979 .

[18]  Carlos Canudas-de-Wit,et al.  Dynamic Friction Models for Road/Tire Longitudinal Interaction , 2003 .

[19]  Abdelhamid Rabhi,et al.  Vehicle–road interaction modelling for estimation of contact forces , 2005 .

[20]  Romeo Ortega,et al.  Passivity-based Control of Euler-Lagrange Systems , 1998 .