Abstract
In this paper, high order sliding mode observers are used to estimate tires longitudinal forces, vehicle side slip angle and velocities. Two types of high order sliding mode observers are used. A third order one is used to estimate the longitudinal forces, while for the estimation of the vehicle side slip and velocities, an observer based on the super twisting algorithm is proposed. Validations with the simulator ve-dyna pointed out the good performance and the robustness of the proposed observers. Controller design for the braking is accomplished using a reduced state space model representing the movement of the vehicle center 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.
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