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This paper describes a Kalman filter for a class of linear system in which: 1) The sampling time of measurement is longer than the control period. 2) The measurement is delayed. Using the delayed measurement and the present and past time predicted state, the pseudo-measurement in present time is constructed. The optimal Kalman gain is designed to minimize the trace of the covariance of estimation...
This paper describes a new electronic stability control system of electric vehicles based on sideslip angle estimation through Kalman filter. Vehicle course angle obtained from single antenna GPS receiver and yaw rate obtained from gyroscope are used as measurements for Kalman filter. By treating the combination of model errors and external disturbances as extended states in the Kalman filter algorithm,...
This paper describes a new method of sideslip angle estimation for electric vehicle stability control system. Multi-rate Kalman filter is designed based on the measurements of yaw rate (updated every 1 ms) and course angle from GPS receiver (updated every 200 ms). By disturbance accommodating method, robust estimation of sideslip angle is achieved. Direct yaw moment generated by in-wheel motors' torque...
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