L3 EGs

variables of a dynamic system that describe the whole system and its response to an input

• State equation:

  • n first order linear differential equations

  • r inputs

    
    

• Output equation:

  • m outputs

• no two distinct states may have the same output

• states are indistinguishable if they produce the same output for different inputs

• Observability is a measure of how well the internal states of a system can be inferred by knowledge of outputs

• Kinematic

  • No forces or torques

  • No complex parameters

  • large estimation error

• Dynamic

  • better description

  • requires knowledge on tire-road interaction

  • requires knowledge of parameters

    
    

• Single track

  • describe dynamics without vertical and roll motions

• Two track

  • includes longitudinal, lateral and yaw motions

• Quarter Car

  • considers sprung and unsprung mass

  • SDS

• Tire Model

  • relationship between tire forces and moments with slip ratio/slip angle

• Open Loop Observer

• Luenberger observer

• Sliding-mode observer

• Kalman filter

• measured data is fed into mathematical model creating estimates

• problems with stability

• deterministic, closed loop

• uses error between predicted and measured state

• simple design

• sensitive to changes

• deterministic, closed loop

• uses sign function

• more robust

• chattering effect

• not deterministic

• considers noise

angle between the vehicle’s center plane and the velocity vector

1. R and Q tuning

2. More accurate models

3. Additional „measurements“

DGLs -> linearization -> get matrices

• Linear region

• Transitional region

• Frictional (lower forces)

• Over slip, forces