Recursive Least Squares with Forgetting for Online Estimation of Vehicle Mass and Road Grade : Theory and Experiments

  title={Recursive Least Squares with Forgetting for Online Estimation of Vehicle Mass and Road Grade : Theory and Experiments},
  author={Ardalan Vahidi and Anna G. Stefanopoulou and Huei Peng},
Good estimates of vehicle mass and road grade are important in automation of heavy duty vehicle, vehicle following maneuvers or traditional powertrain control schemes. Recursive Least Square with multiple forgetting factors accounts for different rates of change for different parameters and thus, enables simultaneous estimation of the time-varying grade and the piece-wise constant mass. An ad-hoc modification of the update law for the gain in the RLS scheme is proposed and used in simulation… CONTINUE READING
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