Sliding Mode Based Analysis and Identification of Vehicle Dynamics
Vehicles are complex mechanical systems with strong nonlinear characteristics and which can present some uncertainties due to their dynamic parameters such as masses, inertias, suspension springs, tires side slip coefficients, etc. A vehicle is composed o
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Hocine Imine, Leonid Fridman, Hassan Shraim, and Mohamed Djemai
Sliding Mode Based Analysis and Identification of Vehicle Dynamics
ABC
Series Advisory Board P. Fleming, P. Kokotovic, A.B. Kurzhanski, H. Kwakernaak, A. Rantzer, J.N. Tsitsiklis
Authors Dr. Hocine Imine
Dr. Hassan Shraim
Laboratoire d’Expliotation, Perception, Simulateurs et Silulations (LEPSIS) Institut Français des Sciences et Technologies des Transports, de l’Aménagement et des Réseaux (IFSTTAR) LCPC/INRETS, 58 Boulevard Lefebvre 75732 Paris, France E-mail: [email protected]
University of Paul Cezanne BR Laboratory of Sciences of Informations and of Systems LSIS UMR 6168 Escadrille de Normandie, Niemen Aix-Marseille III Av 13397, Marseille Cedex 20, France E-mail: [email protected]
Dr. Leonid Fridman
Dr. Mohamed Djemai
Universidad Nacional Autonoma de Mexico Departamento de Ingeniería de Control y Robótica División de Ingeniería Eléctrica Facultad de Ingeniería UNAM 04510, Mexico, D.F. Mexico E-mail: [email protected]
University of Valenciennes and Hainaut-Cambrésis (UVHC) Laboratory LAMIH, UMR CNRS 8530 Valenciennes 59300, France E-mail: [email protected]
ISBN 978-3-642-22223-8
e-ISBN 978-3-642-22224-5
DOI 10.1007/978-3-642-22224-5 Lecture Notes in Control and Information Sciences
ISSN 0170-8643
Library of Congress Control Number: 2011932321 c 2011 Springer-Verlag Berlin Heidelberg This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable to prosecution under the German Copyright Law. The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Typeset & Cover Design: Scientific Publishing Services Pvt. Ltd., Chennai, India. Printed on acid-free paper 987654321 springer.com
We dedicate this book to all researchers who work in the field of vehicle dynamics and Variable Structure System.
Acknowledgements
This work has been supported, for M. Djemai, by International Campus on Safety and Intermodality in Transportation, the European Community, the Delegation Regionale a` la Recherche et `a la Technologie, the Ministere de l’Enseignement superieur et de la Recherche, the Region Nord Pas de Calais and the Centre National de la Recherche Scientifique. The authors gratefully acknowledge Professor Hajjaji for his great help and his interest to this research work.
Contents
1
Introduction . . . . . . . . . . . . . . . . . . . . .
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