Abstract
The problem of state estimation during antilock braking in the real vehicle is addressed in this work. The proposed nonlinear observer based on the unscented Kalman filter theory can provide the necessary information for the antilock control despite the presence of measurement noise, uncertainties in the model parameters, the road friction coefficient, and the road inclination. In the observer design, a LuGre tire model and a vehicle model deduced from the quarter car model are used as design model. Furthermore, an observability analysis is carried out for the plant in order to prove the observability of defined state variables with respect to the measured signals. The practical applicability of the proposed nonlinear observer is shown by means of experimental studies relying on the measurement data.
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Schedule a callMore From: Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
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