Application of Recursive Least Square Algorithm on Estimation of Vehicle Sideslip Angle and Road Friction

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="541809.fig.005a" src="https://static-preview.hindawi.com/articles/mpe/volume-2010/541809/figures/541809.fig.005a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Inputs to estimator</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="541809.fig.005b" src="https://static-preview.hindawi.com/articles/mpe/volume-2010/541809/figures/541809.fig.005b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Estimated results and comparison with actual data</td></tr></table></td></tr></table>

<table>Double lane change on high-<math id="M122" xmlns="http://www.w3.org/1998/Math/MathML"><mrow><mi>μ</mi></mrow></math> at 110 km/h.</table>

Mathematical Problems in Engineering

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Figure 5

Figure 5: Application of Recursive Least Square Algorithm on Estimation of Vehicle Sideslip Angle and Road Friction 