Structured Estimation of Tire Forces and the Ground Slope Using SM Observers
In agricultural context, the principal cause of serious accidents for all-terrain vehicles (ATVs) is rollover. The most important parameters related to this risk is the ground slope. In this paper, we propose a structured observer to estimate the system states and the longitudinal tire forces using only wheel angular velocities measurement. The robust estimation is based on a second order sliding mode observer. This estimation is then used to build up a ground slope estimation. The algorithm is composed by two cascaded estimators. This structured estimation is then applied to the model of an agricultural vehicle G7 (Gregoire)integrated in the driving simulation environment SCANeR-Studio.
ground slope all-terrain vehicles longitudinal tire forces sliding modes observers rollover situation