Sliding mode observer for estimation of all-terrain vehicle dynamic parameters

This paper uses sliding mode observers to build up an estimation of some unmeasurable parameters in all-terrain vehicle road interaction. An estimation of the angular velocity and acceleration is presented by using a second sliding mode observer. This estimation strategy is used to reconstruct the road slope. Also a fist sliding mode observer is developed to observe to road bank angle. To validate these approaches a experimentally data is used. The actual results show effectiveness and robustness of the proposed method.