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Abstract
In this paper an adaptive observer-based method is proposed for the estimation of a control-oriented vehicle model, in which there are both unknown varying parameters and unknown states. The method is based on a control-oriented Linear Parameter Varying (LPV) model of the yaw-roll dynamics of the vehicle. Since the lateral adhesion coefficient changes during vehicle maneuvers this variable is estimated as a scheduling variable in the LPV model. In order to estimate the unknown parameters of the model a grey-box identification method is proposed. In the method the interaction between the lateral adhesion coefficient and the unknown states, e.g. the side-slip angle are also considered. The estimation procedure is illustrated through simulation examples.
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