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dc.contributor.author | Volkov V. | |
dc.contributor.author | Galimova G. | |
dc.contributor.author | Demyanov D. | |
dc.date.accessioned | 2022-02-09T20:46:25Z | |
dc.date.available | 2022-02-09T20:46:25Z | |
dc.date.issued | 2021 | |
dc.identifier.uri | https://dspace.kpfu.ru/xmlui/handle/net/170184 | |
dc.description.abstract | In this paper we consider the problem of a road train dynamic parameter estimation, specifically the truck and semitrailer axle sideslip angles, and road train jackknifing angle. We introduce a state-space linear model of road train planar motion obtained via the analytical linearization of the nonlinear model under the assumption of small slip and jackknifing angles. For this state-space linear model, we devise a linear functional of its state variables to calculate the slip and jackknifing angles. Using these proposed state-space models and linear functional of its states we design a functional observer to estimate the slip and jackknifing angles. Finally, analyzing the computer simulation results, we show that the proposed algorithm of the slip and jackknifing angles of a road train estimation works fairly well, with low estimation error, even under quite difficult driving maneuvers. | |
dc.subject | estimation | |
dc.subject | functional observer | |
dc.subject | jackknifing angle | |
dc.subject | minimal order observer | |
dc.subject | observation | |
dc.subject | road train | |
dc.subject | slip angle | |
dc.title | Road Train Sideslip and Jackknifing Angle Estimation using Functional Observer | |
dc.type | Conference Proceeding | |
dc.collection | Публикации сотрудников КФУ | |
dc.relation.startpage | 934 | |
dc.source.id | SCOPUS-2021-SID85116141867 |