Robust Observers and Unknown Input Observers for estimation, diagnosis and control of vehicle dynamics

In this paper we propose three kinds of observers for Vehicle Dynamics. Robust sliding mode observers are used to estimate contact forces. First we assume constant operating conditions then a second kind of observers assume variations slow enough and use a linearized contact model for step by step estimations. Observation of the system state can use either global or partial models before contact forces estimations. The third observers kind uses high order sliding modes (triangular state observers) and a structured procedures to get inputs estimation.