Observation D'Etats D'Un Vehicule Et Estimation Du Profil De La Route Paperback

Hocine Imine

The purpose of this book is the realization of a road profile estimator based on non-linear observers. We compared the results of several methods to the profile measured by the Longitudinal Analyzer (LPA). We first studied the feasibility of our approach on an instrumented trailer placed on a static support. We then proceeded to a reconstruction of the excitation signals. In order to develop observers, we realized a dynamic model of the vehicle that we validated by track tests. To estimate the four inputs, several methods based on the sliding mode observer were developed. At first, the parameters of the model are considered known.Then, an observer extended by sliding modes allowing to estimating longitudinal forces has been developed to circumvent the problem of the ignorance of the parameters. We then made a triangular observer to obtain a convergence in finite state time. This makes it possible to obtain the four tracks of rolling of the vehicle on the roadway. Finally, a comparative study between these different methods was carried out.

9786131523632

French

Omniscriptum

180