Vehicles are complex mechanical systems with strong nonlinear characteristics and which can present some uncertainties due to their dynamic parameters such as masses, inertias, suspension springs, tires side slip coefficients, etc. A vehicle is composed of many parts, namely the unsprung mass, the sprung mass, the suspension which makes the link between these two masses and therefore ensures passenger comfort, and also the pneumatic which absorbs the energy coming from the road and ensures contact between the vehicle and the road. In addition to its complexity and the presence of many nonlinearities and uncertainties, the presence of some external perturbations, such as the wind and the road inputs with its own characteristics (radius of curvature, longitudinal and lateral slop, road profile and skid resistance) can cause risks not only to the vehicle but also to passengers and other road users. Many methods have been developed in order to understand the behavior of a vehicle, control it and assist the driver in order to avoid possible lane departures, rollover or jackknifing risks, to ensure a better passenger comfort by means of a suspension control and/or to estimate a safety speed and trajectory.

The present book is an attempt to show how the sliding mode based observation, uncertainties identification and parameter estimation may be applied in the control of vehicle dynamics as well as for parameter and perturbations estimation.

This book is the first of long series of books in the field of variable structure system in automotive application. Some other results and tools will be proposed and explained in the next publications.

Inhalt

Introduction.- Observation and Identification via HOSM-Observers.- Vehicle Modeling.- States and Parameters Estimation.- Estimation of Road Profile and External Forces as Unknown Inputs.- Conclusions.