Multistage Estimators for the Distributed Drive Articulated Steering Vehicle

Table 1

Parameters of the DDASV model.

Parameter	Unit	Value
Gross mass	(kg)	2600
Mass of the front part vehicle	(kg)	1300
Mass of the rear part vehicle	(kg)	1300
Front wheel track	(m)	1.4
Rear wheel track	(m)	1.4
Distance from articulated point to front axle	(m)	1.2
Distance from articulated point to rear axle	(m)	1.2
Distance from articulated point to the center of front vehicle gravity	(m)	0.3
Distance from articulated point to rear axle	(m)	0.3
Centroid height	(m)	0.4
Wheel radius	(m)	0.397
Vehicle rotational inertia about z-axis		26000
Front part vehicle rotational inertia about z-axis		13000
Rear part vehicle rotational inertia about z-axis		13000