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A switched adaptive observer for extended braking stiffness estimation

Abstract : We present a switched adaptive observer for the estimation of the tyre extended braking stiffness (XBS) during braking scenarios. The design of the observer is based on Burckhardt's friction model, and on a model of the wheel dynamics in which the XBS appears as one of the state variables. Asymptotic stability of the estimation error is established on the basis of dwell-time and persistency of excitation conditions. The approach is validated via numerical simulations considering realistic perturbations on the system's measured output.
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Missie Aguado-Rojas, William Pasillas-Lépine, Antonio Loria. A switched adaptive observer for extended braking stiffness estimation. IEEE American Control Conference (ACC 2018), Jun 2018, Milwaukee, United States. ⟨10.23919/acc.2018.8430681⟩. ⟨hal-01753362⟩

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