전자 유압 엑추에이터를 포함하는 비선형 능동 서스펜션의 상태추정을 위한 가우시안 분포 리샘플링 기반 입자 필터 설계

Abstract

This paper proposes a GDRPF (Gaussian Distribution Resampling Particle Filter) for electro-hydraulic active suspension systems. In order to estimate the state of the nonlinear/non-Gaussian suspension system effectively, a particle filter-based state estimator was developed, and the computational burden and sample impoverishment problems were overcome through the GDR algorithm. The proposed GDRPF-based state estimator not only reduces the computational burden of the particle filters efficiently, but also has better estimate performance than other linearization-based state estimators. Simulation results for nonlinear active suspension system demonstrate the effectiveness of the proposed algorithm.