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The Scientific World Journal
Volume 2014, Article ID 203416, 8 pages
Research Article

Adaptive Super-Twisting Observer for Estimation of Random Road Excitation Profile in Automotive Suspension Systems

1School of Electronics Engineering, Kyungpook National University, Daegu 702-701, Republic of Korea
2LAMIH, CNRS UMR 8201, University Lille Nord de France, UVHC, 59313 Valenciennes, France

Received 31 August 2013; Accepted 4 December 2013; Published 9 February 2014

Academic Editors: F. Berto and I. Uzmay

Copyright © 2014 J. J. Rath et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The estimation of road excitation profile is important for evaluation of vehicle stability and vehicle suspension performance for autonomous vehicle control systems. In this work, the nonlinear dynamics of the active automotive system that is excited by the unknown road excitation profile are considered for modeling. To address the issue of estimation of road profile, we develop an adaptive supertwisting observer for state and unknown road profile estimation. Under Lipschitz conditions for the nonlinear functions, the convergence of the estimation error is proven. Simulation results with Ford Fiesta MK2 demonstrate the effectiveness of the proposed observer for state and unknown input estimation for nonlinear active suspension system.