Full vehicle vibration state estimation algorithm based on feedback linearization

Aiming at the high-dimensional nonlinearity of full vehicle vibration system in the design of vehicle vibration state observer, a feedback linearization Kalman filter algorithm was proposed. Based on differential geometry theory, a nonlinear vehicle vibration model was transformed into a certain observable normal form via change of state coordinates. Based on the obtained linear system, the observer was designed by using Kalman filter algorithm. Finally the estimated states of nonlinear system were obtained through inverse transformation. Simulation results show that compared with extended Kalman observer, the proposed algorithm can improve the observation accuracy and operation efficiency of vehicle vibration states.