Vehicle parameter estimation and stability enhancement using the principles of sliding mode

Mustapha Ouladsine, Hassan Shraim, Leonid Fridman, Hassan Noura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Citations (Scopus)


In this paper, tires longitudinal forces, vehicle side slip angle and velocity are identified and estimated using sliding modes (SM) observers. Longitudinal forces are estimated using high order SM observers, while for the estimation of the vehicle side slip angle and vehicle velocity, a SM observer based on the hierarchical super twisting algorithm. Validations with the simulator VE-DYMA pointed out the good performance and the robustness of the proposed observers. After validating these observers, controller design for the braking is accomplished using a reduced state space model representing the movement of the vehicle centre of gravity in the (X, Y) plane. Driver's reactions are taken into account. The performance of the closed loop system is carried out by means of simulation tests.

Original languageEnglish
Title of host publicationProceedings of the 2007 American Control Conference, ACC
Number of pages6
Publication statusPublished - 2007
Event2007 American Control Conference, ACC - New York, NY, United States
Duration: Jul 9 2007Jul 13 2007

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2007 American Control Conference, ACC
Country/TerritoryUnited States
CityNew York, NY

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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