Fuzzy Sliding-Mode Observer for Lateral Dynamics of Vehicles with Consideration of Roll Motion

This paper focuses on the methodology of estimating dynamic states of the vehicle, by a sliding-mode observer (SMO). The vehicle is represented by the fuzzy model of Takagi Sugeno (TS). The main contribution of this article is the development of a robust observer with the synthesis of sufficient stability conditions of this observer. This representation is used to take into account the non-linearities of the lateral forces. The stability of the fuzzy observer is given by the Lyapunov approach; the stability conditions of this observer are expressed in terms of linear matrix inequalities (LMI). The simulation results show the effectiveness of the proposed observer in estimating the states of the vehicle dynamics.