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Estimating the Mu Slip Curve via Extended Kalman Filtering
Robert Rudd

Automated braking system design relies on knowledge of how tire friction varies with the depth of the skid. This knowledge is captured empirically in the tire mu slip curve. An extended Kalman filter is designed to fit test data to the mu slip curve. An animation of the Kalman filter's convergence is presented.

*Notebook


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About the Author
Robert Rudd works for the Goodrich Corporation, Fuel and Utility Systems, in Vergennes, Vermont. Rudd received bachelor's and master's degrees in mechanical engineering from Rensselaer Polytechnic Institute in Troy, New York, and has worked at the Unisys and Singer corporations. He has designed and tested antiskid control algorithms for the Lockheed Martin F-16, the Airbus A321, the Boeing 777, the Northrop Grumman RQ-4B Global Hawk, and regional business jets. He has also designed Kalman filters and smoothers for use with the Boeing B1-B.

Robert Rudd
Goodrich Fuel and Utility Systems
100 Panton Road
Vergennes, VT 05491
Rob.Rudd@goodrich.com


     
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