Adaptive Estimation of Unknown Road Terrain

The primary objective of this project was to adaptively estimate the road profile from the motion of a quarter-car model. The equations of motions for a quarter-car model moving on a road profile were first derived. The unknown road profile was represented as the sum of unknown coefficients time basis functions. I used linear finite element basis functions. The unknown coefficients were determined using gradient law as the learning law. The above problem was modelled in Matlab and the estimated road profile matched the actual profile.