State and Parameter Estimation for Lipschitz Nonlinear Systems
Abstract
:1. Introduction
2. Preliminaries
2.1. Notation
2.2. Problem Formulation
- for , the errors and converge asymptotically to zero.
- for we solve the .
3. Adaptive Observer Design
Stability of the Observer
4. Application to a Semi-Active Automotive Suspension
5. Simulation Results
6. Conclusions
Author Contributions
Funding
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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Parameter | Description | Value | Units |
---|---|---|---|
, | Pre-effort zone of | , | (Ns)/m |
, | Post-effort zone of | , | (Ns)/m |
Damping force | N/A | ||
I | Electric current | 2 | A |
Spring stiffness coefficient | 86,378 | N/m | |
Tire stiffness coefficient | 260,000 | N/m | |
Suspended mass and Unsprung (tire) mass | 470, 110 | kg | |
Variable | Description | Role | Units |
Vertical damper position | output | m | |
Vertical damper speed | m/s | ||
Road profile | input | m | |
Vertical displacement of , | outputs and | m | |
Vertical speed of , | state and | m/s | |
Vertical acceleration of , | and | m2/s | |
Shock absorber hysteresis | nonlinear function | ||
Force MR | damping force | N |
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Alvarado-Méndez, P.E.; Astorga-Zaragoza, C.M.; Osorio-Gordillo, G.L.; Aguilera-González, A.; Vargas-Méndez, R.; Reyes-Reyes, J.
Alvarado-Méndez PE, Astorga-Zaragoza CM, Osorio-Gordillo GL, Aguilera-González A, Vargas-Méndez R, Reyes-Reyes J.
Alvarado-Méndez, Pedro Eusebio, Carlos M. Astorga-Zaragoza, Gloria L. Osorio-Gordillo, Adriana Aguilera-González, Rodolfo Vargas-Méndez, and Juan Reyes-Reyes.
2024. "