Nonlinear Observer Design for State Estimation
نویسندگان
چکیده
A novel model based scheme for the state estimation during anti-lock braking is presented based on a LuGre tyre model and a quarter car model. The wheel angular speed and longitudinal vehicle acceleration information are used to design a nonlinear observer based on the unscented Kalman filter theory. This nonlinear observer provides the necessary information for the anti-lock control despite the presence of measurement noise, the unknown parameter of the dynamic tyre model, the road friction coefficient, and the road inclination.
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