PROJECT TITLE :

Robust Observer Design of Tire Forces in Heavy-Duty Vehicles

ABSTRACT:

This paper presents a sturdy observer design methodology to estimate tire forces in serious-duty vehicles. The proposed methodology uses low-price sensors and observer-primarily based numerical differentiators. Additionally to the already available sensors, low-value sensors from the WILL bus are employed to induce additional measurements. Sliding mode differentiators are used to optimize the sensors' configuration. Validation of the proposed estimation methodology is made by comparing the results with that generated using the PROSPER software simulator. The finite-time convergence with tiny estimation error suggests that the proposed methodology is valid and can be applied in real time.