Observer based sliding mode controller for vehicles with roll dynamics

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In this work, considering the roll dynamics and actuator dynamics, an observer-based control scheme for a vehicle is proposed. The proposal considers a nonlinear higher order sliding mode observer to estimate unmeasurable lateral velocity, roll angle and roll velocity. Using the observer information, a controller based on block control with sliding mode technique is designed for the reference trajectory tracking of the lateral and yaw velocities of the vehicle. The stability of the complete closed-loop system including zero dynamics is analyzed. The effectiveness of the proposed scheme is demonstrated through CarSim simulations.