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Electrified drive trains for tractors are supposed to realize great potential of raising performance in heavy operations via optimal traction control. The paper proposes to apply an adaptive unscented Kaiman filter (UKF) with a fuzzy supervisor for identification of electrical drive train tractor dynamics. The key advantage of electrical drive trains lies in feedback of drive torque which plays crucial...
This paper introduces a new method, based on extended Kalman filter (EKF), to estimate wheel slip and tire forces for a four-wheel drive mobile robot on rigid and continuously varying inclined terrain. The longitudinal and lateral forces are both considered in the proposed method. An empirical tire-terrain model from Pacejka's Magic Formula is used to represent the true model of the contact patch...
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