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[This paper considers longitudinal and lateral tire-stiffness estimation for road vehicles, using wheel-speed and inertial measurements. The deviations from nominal stiffness values are treated as disturbances acting on the vehicle, and are included in a nonlinear vehicle model. We formulate a Bayesian approach based on particle filtering, where the tire stiffness as well as the associated uncertainty...
This paper is concerned with L2-gain optimal control approach for coordinating the active front steering and differential braking to improve vehicle yaw stability and cornering control. The vehicle dynamics with respect to the tire slip angles is formulated and disturbances are added on the front and rear cornering forces characteristics modelling, for instance, variability on road friction. The mathematical...
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