ESTIMATION OF ROAD PROFILE USING SECOND ORDER SLIDING MODE OBSERVER

A. Rabhi; N. K. M’Sirdi; M. Ouladsine; L. Fridman

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Paper

ESTIMATION OF ROAD PROFILE USING SECOND ORDER SLIDING MODE OBSERVER

Topics: Mobile Robots and Autonomous Systems; Vehicle Control Applications

In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 531-534, 2006 , Setúbal, Portugal

Authors: A. Rabhi ¹ ; N. K. M’Sirdi ¹ ; M. Ouladsine ¹ and L. Fridman ²

Affiliations: ¹ LSIS, CNRS UMR6168, Dom. Univ. St Jrme, France ; ² Faculty of Engineering, Ciudad Universitaria, Universidad Nacional Autonoma de Mexico, Mexico

Keyword(s): First and second order sliding modes, Estimation of inputs, Road Profile, Robust nonlinear observers.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vehicle Control Applications

Abstract: This paper presents an algorithm to estimate the road profile. This method is based on a robust observer designed with a nominal dynamic model of vehicle. The estimation has been validated experimentally using a trailer equipped with position sensors and acceleration sensors.

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Paper citation in several formats:

Rabhi, A.; K. M’Sirdi, N.; Ouladsine, M. and Fridman, L. (2006). ESTIMATION OF ROAD PROFILE USING SECOND ORDER SLIDING MODE OBSERVER. In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-972-8865-60-3; ISSN 2184-2809, SciTePress, pages 531-534. DOI: 10.5220/0001215905310534

@conference{icinco06,
author={A. Rabhi. and N. {K. M’Sirdi}. and M. Ouladsine. and L. Fridman.},
title={ESTIMATION OF ROAD PROFILE USING SECOND ORDER SLIDING MODE OBSERVER},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2006},
pages={531-534},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001215905310534},
isbn={978-972-8865-60-3},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - ESTIMATION OF ROAD PROFILE USING SECOND ORDER SLIDING MODE OBSERVER
SN - 978-972-8865-60-3
IS - 2184-2809
AU - Rabhi, A.
AU - K. M’Sirdi, N.
AU - Ouladsine, M.
AU - Fridman, L.
PY - 2006
SP - 531
EP - 534
DO - 10.5220/0001215905310534
PB - SciTePress