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[ 1 ] - Constrained Nonlinear Estimation of Road Friction Coefficient and Wheel Slip for Control of Anti-Lock Braking System

In designing the anti-lock braking system (ABS), some states and parameters of vehicle system such as road friction of coefficient and wheel slip should be estimated due to lack of cost effective and reliable sensors for direct measurement. Because of nonlinear characteristics of vehicle dynamics and tire forces, development of a nonlinear estimation algorithm is necessary. However, considerati...